4 two-jointed scara systems, 1 smc_trafo_scara2, Two-jointed scara systems – Lenze PLC Designer PLC-Designer (R2-x) SoftMotion User Manual

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DMS 5.2 EN 03/2011 TD17

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L-force | PLC Designer - SoftMotion

The SM_Trafo.lib library

Transformation function blocks

9.1.4

Two-jointed Scara systems

9.1.4.1

SMC_TRAFO_Scara2

Inputs (VAR_IN)
pi: SMC_PosInfo
Target position vector. Output of the interpolator
dOffsetA, dOffsetB: LREAL
Offset for A and B axis
dArmLength1, dArmLength2: LREAL
Length of the first and second arm
bElbowLow: BOOL
Elbow down (TRUE) or up (FALSE)

Outputs (VAR_OUT)
bError BOOL
TRUE: Impermissible values
da, db: LREAL
Axis position of A or B axis