# Transformation types

## ID 1: e function

Example:

trafo.command_pos.param[0]    10000

trafo.command_pos.param[1]    1.0

trafo.command_pos.param[2]    2.0

trafo.command_pos.param[3]    1.0

trafo.command_pos.param[4]    1800000

## ID2: Crank

Example:

trafo.command_pos.param[0]    1000000

trafo.command_pos.param[1]    3000000

trafo.command_pos.param[2]    0

trafo.command_pos.param[3]    0

## Notice

In the event of eccentricity e != 0 and specific parameter settings (e.g. (l2-l1) < e), there may be limits to the motor angle movement range because of jamming in the kinematic structure. In this case, the motor angle movement range of both solutions is smaller than 360 degrees (see figure below).

## ID3: Eccenter

Example:

trafo.command_pos.param[0]    1000000

trafo.command_pos.param[1]    0

trafo.command_pos.param[2]    0

trafo.command_pos.param[3]    0

trafo.command_pos.param[4]    0

## ID4: Crank with linkage by linear axis

Example:

trafo.command_pos.param[0]    1000000

trafo.command_pos.param[1]    1410000

trafo.command_pos.param[2]    1000000

trafo.command_pos.param[3]    0

trafo.command_pos.param[4]    0

If the kinematic (β=0) is in zero position, the transformation delivers for the drive position 0 for ls. If necessary, by param[3] an offset to this position can be defined. (Example: Drive position at β=0 is 50mm -> the offset value has to be set on 50mm). Mathematically, the default rotational direction of the B axis is positive. This can be adapted by the parameter trafo.command_pos.param[4], see figure below.