SMC_TRAFO_Gantry2Tool2 (FB) ¶ FUNCTION_BLOCK SMC_TRAFO_Gantry2Tool2 Reverse transformations for gantry systems with tool offset. The tool is approximated by a rectangular triangle. InOut: Scope Name Type Comment Input pi SMC_PosInfo Target vector position (x,y), ouptput of interpolator. SMC_POSINFO dOffsetX LREAL Additional offset for x-axis dOffsetY LREAL Additional offset for y-axis dAlpha LREAL Angle indicating orientation of tool, can be calculated by use of SMC_CalcDirectionFromVector dToolA LREAL Size of tool A = distance( set position) - (machine position) dToolB LREAL Size of tool B = distance( set position) - (machine position) Output dx LREAL Resulting position for x-axis dy LREAL Resulting position for y-axis
Configuration.LogError (METH) ¶ METHOD LogError InOut: Scope Name Type Inout Axis AXIS_REF_MAPPING_SM3 Input uiErrorNumber UINT strErrorMsg STRING
Configuration.RemoveInactiveCaptureSources (METH) ¶ METHOD RemoveInactiveCaptureSources Adapt cyclic mapping. Remove all entries that belong to a different capture source. InOut: Scope Name Type Inout Axis AXIS_REF_MAPPING_SM3 Input byActiveCaptureSources BYTE
Configuration.RemoveMapping (METH) ¶ METHOD RemoveMapping InOut: Scope Name Type Inout aMappings ARRAY [0..(SM0.gc_uiNumberOfMappings - 1)] OF SM0.MappingEntry Input idx DINT
SMC_TRAFO_Gantry3 (FB) ¶ FUNCTION_BLOCK SMC_TRAFO_Gantry3 Reverse transformation for three-dimensional portal systems. Note For detailed information on transformations see overview to SM_Trafo_POUs . InOut: Scope Name Type Comment Input pi SMC_PosInfo Target position vector (x,y), output of the interpolator dOffsetX LREAL Additional offset for x-axis dOffsetY LREAL Additional offset for y-axis dOffsetZ LREAL Additional offset for z-axis Output dx LREAL Resulting position for x-axis dy LREAL Resulting position for y-axis dz LREAL Resulting position for z-axis
Configuration.prv_Abort (METH) ¶ METHOD prv_Abort : BOOL InOut: Scope Name Type Return prv_Abort BOOL
Configuration.prv_CyclicAction (METH) ¶ METHOD prv_CyclicAction : BOOL InOut: Scope Name Type Return prv_CyclicAction BOOL
SMC_TRAFO_GantryCutter2 (FB) ¶ FUNCTION_BLOCK SMC_TRAFO_GantryCutter2 Reverse transformation for two-dimensional gantry systems with one rotation axis being controlled in such a way that the knife will point along the path tangent. Note For detailed information on transformations see overview to SM_Trafo_POUs . InOut: Scope Name Type Initial Comment Input pi SMC_PosInfo Target position vector (x,y), output of interpolator v SMC_VECTOR3D Vector of current path tangent, output of interpolator dOffsetX LREAL Additional offset for x-axis dOffsetY LREAL Additional offset for y-axis dOffsetR LREAL Additional offset for rotational axis iDirectionR INT 1 Direction of rotaion. Output dx LREAL Resulting position for x-axis dy LREAL Resulting position for y-axis. dr LREAL Rotation of resulting position in degrees
Configuration.prv_Start (METH) ¶ METHOD prv_Start : BOOL InOut: Scope Name Type Return prv_Start BOOL
SMC_TRAFO_Tripod_Arm (FB) ¶ FUNCTION_BLOCK SMC_TRAFO_Tripod_Arm The transformation module is provided to execute forward transformations of a tripod arm. Note For detailed information on transformation modules see the overview on kinematic transformations in the CNC online help. InOut: Scope Name Type Initial Comment Input pi SMC_PosInfo Target position vector (x,y), output of interpolator dArmLength1 LREAL Length of arm1 connected to motor dArmLength2 LREAL Length of arm2 from arm to steward dArm1Radius LREAL Radius of arm1 from the middle of the three motors dStewartRadius LREAL 0 Radius of the steward plate dDistance LREAL Distance between the two connecting rods for each arm dRotationOffset LREAL 0 Mathematically oriented angle between axis A and origin (0,0) in degrees dOffsetA LREAL 0 Additional offset of axis A in SoftMotion units dOffsetB LREAL 0 Additional offset of axis B in SoftMotion units dOffsetC LREAL 0 Additional offset of axis C in SoftMotion units dMaxAngleBallJoint LREAL 45 Maximum positive/negative angle for ball joints in degrees Output bError BOOL TRUE , if position is invalid dA LREAL Drive position of axis A in degrees dB LREAL Drive position of axis B in degrees dC LREAL Drive position of axis C in degrees