FUNCTION_BLOCK SMC_TRAFOV_GantryT2_O
Reverse transformation for T-gantry systems with stationary drives, taking into account the path velocity and path direction as control variables for the axis.
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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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Set position (x,y)
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dVel
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LREAL
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Velocity
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v
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SMC_VECTOR3D
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Tangential vector
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dOffsetX
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LREAL
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Additional offsets
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dOffsetY
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LREAL
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Additional offsets
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Output
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da
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LREAL
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Resulting position/velocity for drive a
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dva
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LREAL
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Resulting position/velocity for drive a
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db
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LREAL
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Resulting position/velocity for drive b
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dvb
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LREAL
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Resulting position/velocity for drive b
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