SMC_TRAFOF_Gantry3D (FB)¶

FUNCTION_BLOCK SMC_TRAFOF_Gantry3D

Forward transformation for three dimensional gantry systems. Each instance of SMC_TRAFOF_GANTRY3D can be connected to a visualization template named SMC_VISU_GANTRY3D_XY or SMC_VISU_GANTRY3D_YZ.

Note

For detailed information on transformations see overview to SM_Trafo_POUs.

InOut:

Scope	Name	Type	Comment
Input	`dOffsetX`	`LREAL`	offset position
	`dOffsetY`	`LREAL`	offset position
	`dOffsetZ`	`LREAL`	offset position
	`minX`	`LREAL`	area
	`maxX`	`LREAL`	area
	`minY`	`LREAL`	area
	`maxY`	`LREAL`	area
	`minZ`	`LREAL`	area
	`maxZ`	`LREAL`	area
Inout	`DriveX`	`AXIS_REF_SM3`	X-,Y-,Z-drive
	`DriveY`	`AXIS_REF_SM3`	X-,Y-,Z-drive
	`DriveZ`	`AXIS_REF_SM3`	X-,Y-,Z-drive
Output	`dx`	`LREAL`	position
	`dy`	`LREAL`	position
	`dz`	`LREAL`	position
	`dnx`	`LREAL`	normed position
	`dny`	`LREAL`	normed position
	`dnz`	`LREAL`	normed position
	`dm`	`LREAL`