SMC_TRAFOV_GantryT2 (FB)¶

FUNCTION_BLOCK SMC_TRAFOV_GantryT2

Reverse transformation for T-gantry systems with stationary drives, taking into account the path velocity and path direction as control variables for the axis.

Note

For more information see SMC_TRAFOF_GantryT2.

InOut:

Scope	Name	Type	Comment
Input	`pi`	SMC_PosInfo	Set position (x,y)
	`dVel`	`LREAL`	Velocity
	`v`	`SMC_VECTOR3D`	Tangential vector
	`dOffsetX`	`LREAL`	Additional offsets
	`dOffsetY`	`LREAL`	Additional offsets
Output	`da`	`LREAL`	Resulting position/velocity for drive a
	`dva`	`LREAL`	Resulting position/velocity for drive a
	`db`	`LREAL`	Resulting position/velocity for drive b
	`dvb`	`LREAL`	Resulting position/velocity for drive b