Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 216)

DMS 5.2 EN 03/2011 TD17
L
216
L-force | PLC Designer - SoftMotion
The SM_Trafo.lib library
Transformation function blocks
9 The SM_Trafo.lib library
This POU library is an extension to SM_CNC.lib and provides program organisation units
that help the IEC programmer to transform geo coordinates into machine coordinates and
to control the axes.
The library contains some program organisation units that control the drives with
setpoints whilst also being able to monitor the setpoints and detect jumps.
It contains other program organisation units for the mathematical forwards and reverse
transformation of some common kinematics. Instances of the forwards transformation
POUs can also be connected to the visualisation templates provided in the library, thus
enabling immediate and simple visualisation.
9.1 Transformation function blocks
The program organisation units that refer to specific kinematics belong together in pairs,
where the program organisation unit starting SMC_TRAFO_<Kinematics> performs a
reverse calculation and SMC_TRAFOF_<Kinematics> a forwards calculation. Each instance
of an SMC_TRAFOF_<Kinematics> program organisation unit can be connected to a
visualisation template named SMC_VISU_<Kinematics>.
9.1.1 Gantry systems
As no transformations have to be performed for gantry systems, the program organisation
units simply add offsets to the x, y and z axes.