SMC_TRAFO_Gantry2Tool1 (FB)¶

FUNCTION_BLOCK SMC_TRAFO_Gantry2Tool1

Reverse transformations for gantry systems with tool offset. The tool is approximated by a line.

Note

For detailed information on transformations see overview to SM_Trafo_POUs.

InOut:

Scope	Name	Type	Comment
Input	`pi`	SMC_PosInfo	Target vector position (x,y), ouptput of interpolator
	`dOffsetX`	`LREAL`	Additional offset for X-axis
	`dOffsetY`	`LREAL`	Additional offset for Y-axis
	`dAlpha`	`LREAL`	Angle indicating orientation of tool, can be calculated by use of SMC_CalcDirectionFromVector
	`dToolA`	`LREAL`	Tool size = distance( set position) - (machine position)
Output	`dx`	`LREAL`	Resulting position for X-axis
Output	`dy`	`LREAL`	Resulting position for Y-axis