The objects in the folders below SM_Trafo_POUs ➔ SoftMotion Transformations are used for axis control and for transformation from GEO coordinates to positions of the axes and vice versa. This collection encloses function blocks that control the axes with respect to target values. They are kept under surveillance by the dand, at the same time, the module will detect possible jumps within the path.
There are modules for mathematic forward and inverse transformation for some usual kinematics.
Modules referring to a special kinematics problem belong together in pairs, whereby the module named SMC_TRAFO_<kinematics> performs an inverse transformation (i.e. from geo coordinates to coordinates related to the axes positions) and the one named SMC_TRAFOF_<kinematics> performs a forward calculation (i.e. from the axes point of view in geo coordinates). Each instance of a SMC_TRAFOF_<kinematics>-module can be connected to a visualization template named SMC_VISU_<kinematics>.
Instances of the forward transformation modules can be connected with the also provided visualization-templates allowing an immediate and simple visualization.
Additionally, some of the inverse transformations will make use of the path velocity and the path direction to control the axes. The name of these transformation modules starts with SMC_TRAFOV_ instead of SMC_TRAFO_. As further inputs the modules are passed the path tangent (v) and path velocity (dVel) by the interpolator. Both the target positions and the target velocities (dvx/dvy/dvz) are returned by these modules. The advantage of this method is that the lag error in the drive can be minimized by doing an anticipatory control of the velocity, assuming the drive supports this method. For this reason each axis should be controlled by the modules |SMC_ControlAxisByPos| or |SMC_ControlAxisByPosVel|.