SMC_TRAFOV_Gantry3 (FB)¶

FUNCTION_BLOCK SMC_TRAFOV_Gantry3

Reverse transformation for three-dimensional portal systems. It takes into account the path velocity and path direction as control variables for the axis.

InOut:

Scope	Name	Type	Comment
Input	pi	SMC_PosInfo	Target position vector (x,y), output of interpolator.
	dVel	LREAL	Velocity
	v	SMC_VECTOR3D	Vector of the current tangent, output of interpolator
	dOffsetX	LREAL	Additional offset for the x-axis
	dOffsetY	LREAL	Additional offset for the y-axis
	dOffsetZ	LREAL	Additional offset for the z-axis
Output	dx	LREAL	Resulting target position for the x-axis
	dvx	LREAL	Resulting target velocity for the x-axis
	dy	LREAL	Resulting target position for the y-axis
	dvy	LREAL	Resulting target velocity for the y-axis
	dz	LREAL	Resulting target position for the z-axis
	dvz	LREAL	Resulting target velocity for the z-axis.