SMC_TRAFO_GantryCutter3 (FB)¶

FUNCTION_BLOCK SMC_TRAFO_GantryCutter3

Reverse transformation for three-dimensional gantry systems with one rotation axis being controlled in such a way that the knife will point along the path tangent.

InOut:

Scope	Name	Type	Initial	Comment
Input	pi	SMC_PosInfo		Target position vector (x,y), ouput of interpolator
	v	SMC_VECTOR3D		Vector of current path tangent, output of interpolator
	dOffsetX	LREAL		Additional offset for x-axis
	dOffsetY	LREAL		Additional offset for y-axis
	dOffsetZ	LREAL		Additional offset for z-axis
	dOffsetR	LREAL		Additional offset for rotational axis
	iDirectionR	INT	1	Direction of rotation
Output	dx	LREAL	0	Resulting target position for x-axis
	dy	LREAL	0	Resulting target position for y-axis
	dz	LREAL	0	Resulting target position for z-axis
	dr	LREAL	0	Rotation of resulting position in degrees