SMC_TRAFOV_GantryT2_O (FB) ¶ 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. Note For more information see SMC_TRAFOF_GantryT2_O . 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

SMC_TRAFO_5Axes (FB) ¶ FUNCTION_BLOCK SMC_TRAFO_5Axes Reverse transformation, computes the axis positions so that the tool center point (TCP) achieves the desired path position and orientation. InOut: Scope Name Type Comment Input pi SMC_PosInfo Set position: Contains the path position in the variables dX, dY, dZ and the orientation of the tool in dB (Inclination) and dC (Azimuth). dOffsetX LREAL Offset values X dOffsetY LREAL Offset values Y dOffsetZ LREAL Offset values Z dOffsetIncl LREAL Offset values inclination dOffsetAzi LREAL Offset values azimuth dTool LREAL Length of the tool Output dx LREAL Set position of TCP for axis x dy LREAL Set position of TCP for axis y dz LREAL Set position of TCP for axis z dIncl LREAL Set position of TCP for inclination axis [degrees] dAzi LREAL Set position of TCP for azimuth axis [degrees]

SMC_TRAFO_Gantry2 (FB) ¶ FUNCTION_BLOCK SMC_TRAFO_Gantry2 Reverse transformation for two-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 vector position (x,y), output of interpolator. dOffsetX LREAL Additional offset for x-axis dOffsetY LREAL Additional offset for y-axis Output dx LREAL Resulting position for x-axis dy LREAL Resulting position for y-axis

SMC_TRAFO_Gantry2Tool1 (FB) ¶ FUNCTION_BLOCK SMC_TRAFO_Gantry2Tool1 Reverse transformations for gantry systems with tool offset. The tool is approximated by a line. Note For detailed information on transformations see overview to SM_Trafo_POUs . InOut: Scope Name Type Comment Input pi SMC_PosInfo Target vector position (x,y), ouptput of interpolator 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 Tool size = distance( set position) - (machine position) Output dx LREAL Resulting position for X-axis dy LREAL Resulting position for Y-axis

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

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

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

SMC_ReduceVelEndAtCorner.DoBeforeLeave (ACT) ¶

SMC_RoundPath.SMC_DoBeforeLeave (ACT) ¶

SMC_RoundPath.SMC_RoundPathInit (ACT) ¶