SMC_TRAFOF_GantryCutter2 (FB) ¶ FUNCTION_BLOCK SMC_TRAFOF_GantryCutter2 Forward transformation for two-dimensional gantries with a cutter knife. The rotation axis is controlled in such a way that the knife is aligned along the path tangent. Note For more information see Gantry Cutter. For detailed information on transformations see overview to SM_Trafo_POUs . InOut: Scope Name Type Initial Comment Inout DriveX AXIS_REF_SM3 Reference to axis X DriveY AXIS_REF_SM3 Reference to axis Y DriveR AXIS_REF_SM3 Reference to rotation axis Input dOffsetX LREAL Offset x-position. Similar to SMC_TRAFO_Gantry2 dOffsetY LREAL Offset y-position. Similar to SMC_TRAFO_Gantry2 dOffsetR LREAL Offset of rotation axis iDirectionR INT 1 Direction of rotation minX LREAL Minimum x-position limiting move range (for visualization purpose) maxX LREAL Maximum x-position limiting move range (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-coordinate of resulting position dy LREAL Y-coordinate of resulting position dr LREAL Rotation of resulting position in degrees dnx LREAL X-coordinate of normed position dny LREAL Y-Coordinate of normed position. ratio LREAL Ratio x-interval / y-interval dnOffsetX LREAL X-coordinate of normed offset position dnOffsetY LREAL Y-Coordinate of normed offset position.

SMC_TRAFOF_GantryCutter3 (FB) ¶ FUNCTION_BLOCK SMC_TRAFOF_GantryCutter3 Forward transformation for three-dimensional gantries with a cutter knife. The rotation axis is controlled in such a way that the knife is aligned along the path tangent. Note For detailed information on transformations see overview to SM_Trafo_POUs . InOut: Scope Name Type Initial 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 DriveR AXIS_REF_SM3 Reference to rotation axis Input dOffsetX LREAL Offset position for x-axis dOffsetY LREAL Offset position for y-axis dOffsetZ LREAL Offset position for z-axis dOffsetR LREAL Offset position for rotation axis iDirectionR INT 1 Direction of rotation minX LREAL Minimum x-position limiting move range (for visualization purpose) maxX LREAL Maximum x-position limiting move range (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 dr LREAL Rotation of resulting position in degrees 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 x-offset (with value in [0,1]) (for visualization purpose)

SMC_TRAFOF_GantryH2 (FB) ¶ FUNCTION_BLOCK SMC_TRAFOF_GantryH2 Forward transformation for H-gantry systems with stationary drives. Note For detailed information on transformations see overview to SM_Trafo_POUs . InOut: Scope Name Type Comment Inout DriveA AXIS_REF_SM3 Reference to axis A DriveB AXIS_REF_SM3 Reference to axis B Input dOffsetX LREAL Offset for x-axis dOffsetY LREAL Offset for y-axis minX LREAL Minimum x-position limiting move range (for visualization purpose) maxX LREAL Maximum x-position limiting move range (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 in geo coordinates dy LREAL Y-position in geo coordinates 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 of x-interval to y-interval (for visualization purpose) 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)

SMC_TRAFOF_GantryT2 (FB) ¶ FUNCTION_BLOCK SMC_TRAFOF_GantryT2 Forward transformations for T-gantry systems with stationary drives. Drive configuration: Note For detailed information on transformations see overview to SM_Trafo_POUs . InOut: Scope Name Type Comment Input dOffsetX LREAL Offset for x-axis dOffsetY LREAL Offset for y-axis minX LREAL Minimum x-position limiting move range (for visualization purpose) maxX LREAL Maximum x-position limiting move range (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) Inout DriveA AXIS_REF_SM3 Reference to axis A DriveB AXIS_REF_SM3 Reference to axis B Output dx LREAL X-position dy LREAL Y-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 of x-interval to y-interval (for visualization purpose) 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)

SMC_TRAFOF_GantryT2_O (FB) ¶ FUNCTION_BLOCK SMC_TRAFOF_GantryT2_O Alternative forward transformation for T-gantry systems with stationary drives. Compared to SMC_TRAFOF_GantryT2 , the drive configuration is different: Note For detailed information on transformations see overview to SM_Trafo_POUs . InOut: Scope Name Type Comment Input dOffsetX LREAL Offset position dOffsetY LREAL Offset position minX LREAL Area maxX LREAL Area minY LREAL Area maxY LREAL Area Inout DriveA AXIS_REF_SM3 X-,Y-drive DriveB AXIS_REF_SM3 X-,Y-drive Output dx LREAL Position dy LREAL Position dnx LREAL Normed position dny LREAL Normed position ratio LREAL Ratio area_x / area_y dnOffsetX LREAL dnOffsetY LREAL

SMC_TRAFOV_Gantry2 (FB) ¶ FUNCTION_BLOCK SMC_TRAFOV_Gantry2 Reverse transformation for two-dimensional portal systems taking into account the path velocity and path direction as control variables for the axis. InOut: Scope Name Type Comment Input pi SMC_PosInfo Target position vector (x,y), ouput of interpolator. SMC_POSINFO dVel LREAL Path velocity, output of interpolator v SMC_VECTOR3D Tangent path vector, output of interpolator dOffsetX LREAL Additional offset of x-axis dOffsetY LREAL Additional offset of y-axis Output dx LREAL X-coordinate of resulting position dvx LREAL X-coordinate of resulting velocity dy LREAL Y-coordinate of resulting position dvy LREAL Y-Coordinate of resulting velocity

SMC_TRAFOV_GantryCutter2 (FB) ¶ FUNCTION_BLOCK SMC_TRAFOV_GantryCutter2 Reverse transformation for two-dimensional gantry systems, taking into account the path velocity and path direction as control variables for the axis. 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. dVel LREAL Path velocity, 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 Offset of rotation axis. iDirectionR INT 1 Direction of rotation Output dx LREAL 0 Resulting position x dvx LREAL 0 Resulting velocity x dy LREAL 0 Resulting position y dvy LREAL 0 Resulting velocity y dr LREAL 0 Rotation of resulting position in degrees

SMC_TRAFOV_GantryCutter3 (FB) ¶ FUNCTION_BLOCK SMC_TRAFOV_GantryCutter3 Rreverse transformation for three-dimensional gantry systems, taking into account the path velocity and path direction as control variables for the axis. 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 dVel LREAL Path velocity, output of interpolator v SMC_VECTOR3D Tangent path vector, output of interpolator dOffsetX LREAL Additional offset for x-axis dOffsetY LREAL Additional offset for y-axis dOffsetZ LREAL Additional offset for z-axis dOffsetR LREAL Offset of rotation axis iDirectionR INT 1 Direction of rotation Output dx LREAL 0 Resulting position x dvx LREAL 0 Resulting velocity x dy LREAL 0 Resulting position y dvy LREAL 0 Resulting velocity y dz LREAL 0 Resulting position z dvz LREAL 0 Resulting velocity z dr LREAL 0 Rotation of resulting position in degrees

SMC_TRAFOV_GantryH2 (FB) ¶ FUNCTION_BLOCK SMC_TRAFOV_GantryH2 Reverse transformation fortwo-dimensional H-gantry systems, taking into account the path velocity and path direction as control variables for the axis. 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 interpolator dVel LREAL Path velocity, output of interpolator v SMC_VECTOR3D Tangent path vector, output of interpolator dOffsetX LREAL Additional offset for x-axis dOffsetY LREAL Additional offset for y-axis Output da LREAL Resulting position of axis a dva LREAL Resulting velocity of axis a db LREAL Resulting position of axis b dvb LREAL Resulting velocity of axis b

SMC_TRAFOV_GantryT2 (FB) ¶ FUNCTION_BLOCK SMC_TRAFOV_GantryT2 Reverse transformation for T-gantry systems with stationary drives, taking into account the path velocity and path direction as control variables for the axis. Note For more information see SMC_TRAFOF_GantryT2 . InOut: Scope Name Type Comment Input pi SMC_PosInfo Set position (x,y) dVel LREAL Velocity v SMC_VECTOR3D Tangential vector dOffsetX LREAL Additional offsets dOffsetY LREAL Additional offsets Output da LREAL Resulting position/velocity for drive a dva LREAL Resulting position/velocity for drive a db LREAL Resulting position/velocity for drive b dvb LREAL Resulting position/velocity for drive b