Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 239)

DMS 5.2 EN 03/2011 TD17
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239
L-force | PLC Designer - SoftMotion
The SM_Trafo.lib library
Transformation function blocks
The SM_CNC.lib library provides the following POUs for spatial transformations:
 SMC_CoordinateTransformation3D
 SMC_TeachCoordinateTransformation
 SMC_UnitVectorToRPY
 SMC_DetermineCuboidBearing
9.1.7.1 SMC_CoordinateTransformation3D
This program organisation unit calculates the coordinates of a position (available in the old
coordinate system) with reference to the new coordinate system. For this purpose the
coordinate transformation for the new coordinate system is defined in relation to the old
one on the basis of the translation vector and the new unit vectors.
Inputs (VAR_IN)
vX, vY, vZ: SMC_Vector3D
Unit vectors of the new coordinate system with reference to the old one
vTranslation: SMC_Vector3D
Translation vector. Vector from the old coordinate origin to the new one with reference to
the old coordinate system
vIn: SMC_Vector3D
Position to be transformed
Outputs (VAR_OUT)
vOut: SMC_Vector3D
Transformed position