SMC_TRAFOV_GantryH2 (FB)¶

FUNCTION_BLOCK SMC_TRAFOV_GantryH2

Reverse transformation fortwo-dimensional H-gantry systems, taking into account the path velocity and path direction as control variables for the axis.

Note

For detailed information on transformations see overview to SM_Trafo_POUs.

InOut:

Scope	Name	Type	Comment
Input	`pi`	SMC_PosInfo	Target position vector (x,y), output of interpolator
	`dVel`	`LREAL`	Path velocity, output of interpolator
	`v`	`SMC_VECTOR3D`	Tangent path vector, output of interpolator
	`dOffsetX`	`LREAL`	Additional offset for x-axis
	`dOffsetY`	`LREAL`	Additional offset for y-axis
Output	`da`	`LREAL`	Resulting position of axis a
	`dva`	`LREAL`	Resulting velocity of axis a
	`db`	`LREAL`	Resulting position of axis b
	`dvb`	`LREAL`	Resulting velocity of axis b