Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 235)

DMS 5.2 EN 03/2011 TD17
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L-force | PLC Designer - SoftMotion
The SM_Trafo.lib library
Transformation function blocks
dR1, dR2, dR3: LREAL
Relative arm lengths dR1+dR2+dR3 = 1.]0...1[ (for visualisation)
9.1.6 Parallel kinematics
9.1.6.1 SMC_TRAFO_Tripod
Inputs (VAR_IN)
pi: SMC_PosInfo
Target position vector. Position of the centre of the inner ring. Output of the interpolator
dInnerRadius: LREAL
Radius of the inner ring
dOuterRadius: LREAL
Radius of the outer ring
dLength: LREAL
Strut lengths
dDistance: LREAL
Distance between two connected struts at the outer and inner ring