Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 233)

DMS 5.2 EN 03/2011 TD17
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233
L-force | PLC Designer - SoftMotion
The SM_Trafo.lib library
Transformation function blocks
9.1.5 Three-jointed Scara systems
9.1.5.1 SMC_TRAFO_Scara3
Inputs (VAR_IN)
pi: SMC_PosInfo
Target position vector. Output of the interpolator
dDirection: LREAL
Direction angle of the last joint in degrees (0° W, 90° N)
dOffsetA, dOffsetB, dOffsetC: LREAL
Offset for A, B and C axis
dArmLength1, dArmLength2, dArmLength3: LREAL
Length of the arms
bElbowLow: BOOL
Elbow (first and second joint) down (TRUE) or up (FALSE)
Outputs (VAR_OUT)
bError : BOOL
TRUE: Impermissible values
dA, dB, dC: LREAL
Axis position of A, B, C axis