Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 232)

L-force | PLC Designer - SoftMotion
The SM_Trafo.lib library
Transformation function blocks
232
L
DMS 5.2 EN 03/2011 TD17
9.1.4.2 SMC_TRAFOF_Scara2
Inputs/outputs (VAR_IN_OUT)
DriveA, DriveB: AXIS_REF
A, B axis
Inputs (VAR_IN)
dOffsetA, dOffsetB: LREAL
Offset for A and B axis. Same values as described for SMC_TRAFO_Scara2
dArmLength1, dArmLength2: LREAL
Length of the first and second arm
Outputs (VAR_OUT)
bError BOOL
TRUE: Impermissible values
dx, dy: LREAL
x, y position in geo coordinates
dAlpha, dBeta: LREAL
Joint angle (axis positions without offset) (for visualisation)
dpx, dpy: LREAL
Standardised position of the first joint [-1...1] (for visualisation)
dnx, dny: LREAL
Standardised position of the manipulator [-1...1] (for visualisation)
dR1, dR2: LREAL
Relative arm lengths dR1+dR2 = 1.[0...1] (for visualisation)