Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 234)

L-force | PLC Designer - SoftMotion
The SM_Trafo.lib library
Transformation function blocks
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DMS 5.2 EN 03/2011 TD17
9.1.5.2 SMC_TRAFOF_Scara3
Inputs/outputs (VAR_IN_OUT)
DriveA, DriveB, DriveC: AXIS_REF
A, B and C axis
Inputs (VAR_IN)
dOffsetA, dOffsetB, dOffsetC: LREAL
Offset for A, B and C axis. Same values as described for SMC_TRAFO_Scara3
dArmLength1, dArmLength2, dArmLength3: LREAL
Length of the arms
Outputs (VAR_OUT)
bError BOOL
TRUE: Impermissible values
dx, dy: LREAL
x, y position in geo coordinates
dAlpha, dBeta, dGamma: LREAL
Joint angle (axis positions without offset) (for visualisation)
dpx, dpy: LREAL
Standardised position of the first joint ]-1...1[ (for visualisation)
dppx, dppy: LREAL
Standardised position of the first joint ]-1...1[ (for visualisation)
dnx, dny: LREAL
Standardised position of the manipulator ]-1...1[ (for visualisation)