Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 226)

L-force | PLC Designer - SoftMotion
The SM_Trafo.lib library
Transformation function blocks
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DMS 5.2 EN 03/2011 TD17
9.1.2.4 SMC_TRAFO_Gantry2Tool2
Inputs (VAR_IN)
pi: SMC_PosInfo
Target position vector. Output of the interpolator
dOffsetX, dOffsetY: LREAL
Offset for x and y axis
dAlpha: LREAL
Orientation of the tool in angular degrees
dToolA, dToolB: LREAL
Leg lengths of the right-angled triangle located between the rotation point and the tool
point. dToolA is the length of the leg at a tangent to the path, dToolB that of the leg that is
orthogonal to the path.
If dToolB is positive, the tool point (x/y) is shifted to the left (viewed in the tool direction),
otherwise it is shifted to the right.
Outputs (VAR_OUT)
dx, dy: LREAL
Setpoints for x and y axis