FUNCTION_BLOCK SMC_TRAFO_Gantry3
Reverse transformation for three-dimensional portal systems.
Note
For detailed information on transformations see overview to SM_Trafo_POUs.
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InOut:
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Scope
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Name
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Type
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Comment
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Input
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pi
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SMC_PosInfo
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Target position vector (x,y), output of the interpolator
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dOffsetX
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LREAL
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Additional offset for x-axis
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dOffsetY
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LREAL
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Additional offset for y-axis
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dOffsetZ
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LREAL
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Additional offset for z-axis
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Output
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dx
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LREAL
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Resulting position for x-axis
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dy
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LREAL
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Resulting position for y-axis
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dz
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LREAL
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Resulting position for z-axis
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