SMC_TRAFOF_Gantry2Tool2 (FB)

FUNCTION_BLOCK SMC_TRAFOF_Gantry2Tool2

Forward transformation for two-dimensional gantries (X/Y) with tool offset, i.e. with the tool axis differing from the z-axis. The tool is approximated by a rectangular triangle.

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
Inout	DriveY	AXIS_REF_SM3	Reference to y-axis
Input	dOffsetX	LREAL	Offset x-position. Equivalent to SMC_TRAFO_Gantry2
	dOffsetY	LREAL	Offset y-position. Equivalent to SMC_TRAFO_Gantry2
	dAlpha	LREAL	Angle indicating orientation of tool, can be calculated by use of SMC_CalcDirectionFromVector
	dToolA	LREAL	Size of dToolA (see scheme)
	dToolB	LREAL	Size of dToolB (see scheme)
	minX	LREAL	Lower bound of move range in x-direction (for visualization purpose)
	maxX	LREAL	Upper bound of move range in x-direction (for visualization purpose)
	minY	LREAL	Lower bound of move range in y-direction (for visualization purpose).
	maxY	LREAL	Upper bound of move range in y-direction (for visualization purpose)
Output	dx	LREAL	X-Position
	dy	LREAL	Y-Position
	dnx	LREAL	Normed x-position (with value in [0,1])
	dny	LREAL	Normed y-position (with value in [0,1])
	dntx	LREAL	Normed x-position of triangle edge in tool
	dnty	LREAL	Normed y-position of triangle edge in tool
	dnl1	LREAL	Normed length of dToolA
	dnl2	LREAL	Normed length of dToolB.
	ratio	LREAL	Ratio x-interval / y-interval
	dnOffsetX	LREAL	X-offset for visualization
	dnOffsetY	LREAL	Y-offset for visualization