Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 228)

L-force | PLC Designer - SoftMotion
The SM_Trafo.lib library
Transformation function blocks
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DMS 5.2 EN 03/2011 TD17
9.1.3 H gantry system with stationary drives
This kinematic system is similar to the gantry systems described above, but the drives are
mounted stationary and move the slide and the Y axis via a belt that is looped around
several times (shown in pink in the diagram).
The transformation is suitable for the drive configurations below; other configurations can
be achieved by interchanging x and y:
Please note that a special reference run is necessary for this transformation. If you want to
bring about a motion in the Y direction, drives A and B must be moved in parallel; for a pure
X motion they must be counter-rotated. If the reference position has been found, the x and
y values calculated by the forwards transformation FB are used as offsets (dOffsetX and
dOffsetY).