SMC_TRAFOF_Gantry3 (FB)¶

FUNCTION_BLOCK SMC_TRAFOF_Gantry3

Forward transformation of three dimensional gantry systems. Each instance of SMC_TRAFOF_GANTRY3 can be connected to a visualization template named SMC_VISU_Gantry3

Note

For detailed information on transformations see Overview to SM_Trafo_POUs.

InOut:

Scope	Name	Type	Comment
Inout	`DriveX`	`AXIS_REF_SM3`	Reference to x-axis
	`DriveY`	`AXIS_REF_SM3`	Reference to y-axis
	`DriveZ`	`AXIS_REF_SM3`	Reference to z-axis
Input	`dOffsetX`	`LREAL`	Offset position for x-axis. Equivalent to SMC_TRAFO_Gantry3
	`dOffsetY`	`LREAL`	Offset position for y-axis. Equivalent to SMC_TRAFO_Gantry3
	`dOffsetZ`	`LREAL`	Offset position for z-axis. Equivalent to SMC_TRAFO_Gantry3
	`minX`	`LREAL`	Minimum x position limiting move range (for visualization purpose)
	`maxX`	`LREAL`	(for visualization purpose)
	`minY`	`LREAL`	Minimum y position limiting move range (for visualization purpose)
	`maxY`	`LREAL`	Maximum y position limiting move range (for visualization purpose)
Output	`dx`	`LREAL`	X-position
	`dy`	`LREAL`	Y-position
	`dz`	`LREAL`	Z-position
	`dnx`	`LREAL`	Normed x-position (with value in [0,1]) (for visualization purpose)
	`dny`	`LREAL`	Normed y-position (with value in [0,1]) (for visualization purpose)
	`ratio`	`LREAL`	Ratio x-interval / y-interval
	`dnOffsetX`	`LREAL`	Normed x-offset (with value in [0,1]) (for visualization purpose)
	`dnOffsetY`	`LREAL`	Normed y-offset (with value in [0,1]) (for visualization purpose)