SMC_SegmentAnalyzer.SMC_DoBeforeLeave (ACT) ¶

SMC_SegmentAnalyzer.SMC_InitAction (ACT) ¶

SMC_SmoothAddAxes.DoBeforeLeave (ACT) ¶

SMC_SmoothAddAxes.InitAction (ACT) ¶

SMC_SmoothBSpline.DoBeforeLeave (ACT) ¶

SMC_SmoothPath.SMC_DoBeforeLeave (ACT) ¶

SMC_SmoothPath.SMC_SmoothPathInit (ACT) ¶

SMC_ToolCorr.SMC_DoBeforeLeave (ACT) ¶

SMC_TRAFOV_Gantry3 (FB) ¶ FUNCTION_BLOCK SMC_TRAFOV_Gantry3 Reverse transformation for three-dimensional portal systems. It takes 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), output of interpolator. dVel LREAL Velocity v SMC_VECTOR3D Vector of the current tangent, output of interpolator dOffsetX LREAL Additional offset for the x-axis dOffsetY LREAL Additional offset for the y-axis dOffsetZ LREAL Additional offset for the z-axis Output dx LREAL Resulting target position for the x-axis dvx LREAL Resulting target velocity for the x-axis dy LREAL Resulting target position for the y-axis dvy LREAL Resulting target velocity for the y-axis dz LREAL Resulting target position for the z-axis dvz LREAL Resulting target velocity for the z-axis.

SMC_ToolCorr.SMC_ToolCorrInit (ACT) ¶