FB_QSpline - General Information
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Type: |
Function block |
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Available as of: |
V1.0.0.0 |
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Inherits from: |
- |
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Implements: |
IF_CamReferenceGenerator |
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NOTICE |
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COMPLEX FUNCTION |
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Contact your responsible Schneider Electric contact partner, before using function blocks of this library directly. |
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Failure to follow these instructions can result in equipment damage. |
Other libraries, for example the PD_SmartInfeed are using the PD_SoMotionGenerator internally. It is not necessary to contact your responsible Schneider Electric contact partner when using these librariers.
Generation and calculation of reference values of a quintic spline
This standard function block serves for external generation and calculation of quintic splines (QSpline). In order to generate a QSpline, an instance of the function block must be created within the user program, then one of the two methods for generating a QSpline must be called up.
The method PrepareEqDisX() generates a QSpline with equidistant X values. Using PrepareVarDisX(), a QSpline with discretionary (strictly monotonic increasing) X values is generated.
For execution, a cam job type ET_MotionJobType.ExternalCam must be assigned and this function block must be transferred to the parameter ifCamReferenceGenerator of the structure ST_ExternalCam.
Compared to the cubic spline, the quintic spline provides two additional degrees of freedom. In addition to the slopes, also the bends can be defined in the boundary points.
NOTE: POU is not addressable!
The POU must not be called up.
The function block can be used by calling it up over methods and properties.
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Name |
Description |
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Calculation of the QSpline reference positions. Is part of the interface IF_CamReferenceGenerator and thus does not have to be called up by the user. Can be used to issue slave positions depending on master positions. |
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Generation of a QSpline with equidistant X values |
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Generation of a QSpline with discretionary (strictly monotonic increasing) X values |
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Releasing occupied dynamic memory |
