Transform

The transformation component contains information about the physical system setup that is used to:

Transform data from sensor coordinate system to another coordinate system (e.g., world)
Define encoder resolution for encoder-based triggering
Define the travel offset (Y offset) between sensors for staggered operation

You can access the Transform component of the active job as an XML file, either using path notation, via "_live.job/transform.xml", or directly via "_live.tfm".

You can access the Transform component in user-created job files in non-volatile storage, for example, "productionRun01.job/transform.xml". You can only access transformations in user-created job files using path notation.

See the following sections for the elements contained in this component.

Transformation Example:

<?xml version="1.0" encoding="UTF-8"?>

</Device>

</Device>

</Devices>

</Transform>

The Transform element contains the alignment record for both the Main and the Buddy sensor.

Transform Child Elements
Element	Type	Description
@version	32u	Major transform version (100).
@versionMinor	32u	Minor transform version (0).
EncoderResolution	64f	Encoder Resolution (mm/tick).
Speed	64f	Travel Speed (mm/s).
Devices	(Collection)	Contains two Device elements.

Device

A Device element defines the transformation for a sensor. There is one entry element per sensor, identified by a unique role attribute (0 for main and 1 for buddy):

Device Child Elements
Element	Type	Description
@role	32s	Role of device described by this section: 0 – Main 1 – Buddy
X	64f	Translation on the X axis (mm).
Y	64f	Translation on the Y axis (mm).
Z	64f	Translation on the Z axis (mm).
XAngle	64f	Rotation around the X axis (degrees).
YAngle	64f	Rotation around the Y axis (degrees).
ZAngle	64f	Rotation around the Z axis (degrees).

The rotation (counter-clockwise in the X-Z plane) is performed before the translation.