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Here are the functions i've made using mathematical functions for movement with a XY-axis (FM353/4) in a plc.
Javascript

download awl source (incl. functions.)

Symbol table:

Calc. X,Y Position	FC 1045	FC 1045	Calculate X,Y position from P1, P2, cols, row and position.
Calc. X,Y Speed	FC 1046	FC 1046	Calculate X,Y Speed for a linear XY movement.

Matrix position: FC 1045: Calculate X,Y position in a matrix

Input:	EN	Enable function (Here the function is started once if the program goes from step[10] to step[11])
	P1_X  P1_Y	First coordinate of the matrix (X,Y)
	P2_X  P2_Y	Last coordinate of the matrix (X,Y)
	n_X	Number of positions in the X line.
	n_Y	Number of positions in the Y line.
	position	The required position in the matrix. (starting on the X line.) Minimum value is 1 (the first in the matrix) Maximum value is X times Y (the last in the matrix)
Output:	Pos_X & Pos_Y	Calculated coordinate of the position required
	ENO	ENO = high (error) if Position > n_X ·n_Y OR position < 1 OR n_X = 0 OR n_Y = 0 OR n_X and n_Y are both 1.

Positions are calculated as Double integers. (max. L#+2.147.483.647)
Formal used inside:

offset (X,Y)	=	(P2_X - P1_X) / (n_X - 1) , (P2_Y - P1_Y) / (n_Y - 1)
position (X,Y)	=	P1_X + ((Position - 1) MOD n_X) ·offset_X , P1_Y + ((Position - 1) DIV n_X) ·offset_Y

Linear speed: FC 1046: Calculate X,Y Speed for a linear XY movement

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