Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 231)

DMS 5.2 EN 03/2011 TD17
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231
L-force | PLC Designer - SoftMotion
The SM_Trafo.lib library
Transformation function blocks
9.1.4 Two-jointed Scara systems
9.1.4.1 SMC_TRAFO_Scara2
Inputs (VAR_IN)
pi: SMC_PosInfo
Target position vector. Output of the interpolator
dOffsetA, dOffsetB: LREAL
Offset for A and B axis
dArmLength1, dArmLength2: LREAL
Length of the first and second arm
bElbowLow: BOOL
Elbow down (TRUE) or up (FALSE)
Outputs (VAR_OUT)
bError BOOL
TRUE: Impermissible values
da, db: LREAL
Axis position of A or B axis