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Transformation function blocks
minX, maxX, minY, maxY: LREAL
Motion range (for visualization).
DriveX, DriveY: AXIS_REF
x-, y-axis.
dx, dy: LREAL
x-, y-position in GEO coordinates.
dnx, dny, dnl, dnOffsetX, dnOffsetY: LREAL
standardised x- and y-position [0..1], tool length and offsets (for visualization).
ratio: LREAL
x-interval / y-interval ration (for visualization).
SMC_TRAFO_Gantry2Tool2
pi: SMC_PosInfo
Target position vector. Output of the Interpolator.
dOffsetX, dOffsetY: LREAL
Offset for x- and y-axis.
dAlpha: LREAL
Orientation of the tool in angle degrees.
dToolA, dToolB: LREAL
Leg length of the rectangular triangle which is between the pivot and the tool point. dToolA is the
length of the leg at a tangent of the path, dToolB is the length of the leg which is orthogonal to the
path.
If dToolB is positive, the tool point (x/y) is shifted to the left referring to the tool orientation, otherwise
to the right.
dx, dy: LREAL
Scheduled values for x- and y-axis.
8-6
SoftMotion in CoDeSys 2.3