FC_CalcPurePositioningDistance
FC_CalcPurePositioningDistance - General Information
|
Type: |
Function |
|
Available as of: |
V1.5.3.0 |
Calculate the positioning distance and 3 duration times of a motion movement with maximum 3 phases starting with present velocity and acceleration ending in dedicated velocity and acceleration based on maximum acceleration, deceleration and jerk value during transistion phase.
The function FC_CalcPurePositioningDistance calculates the position increment if the movement is required to change from v0, a0 to v1,a1.
Normally this change in done with three phases.
In the first phase the initial acceleration is changed to either i_lrAcc or i_lrDec.
In the second phase the movement applies a constant acceleration.
And in the third phase the acceleration is changed to the required final value.
If the required velocity increment is too small, either i_lrAcc or i_lrDec will not be reached at all and thus the second phase vanishes.
|
Input |
Data type |
Description |
Range |
Default value |
|---|---|---|---|---|
|
i_lrV0 |
LREAL |
Initial velocity in units/s |
-1.8x10308...1.8x10308 |
- |
|
i_lrA0 |
LREAL |
Initial acceleration in units/s2 |
-1.8x10308...1.8x10308 |
- |
|
i_lrV1 |
LREAL |
Final velocity in units/s |
-1.8x10308...1.8x10308 |
- |
|
i_lrA1 |
LREAL |
Final deceleration in units/s2 |
-1.8x10308...1.8x10308 |
- |
|
i_lrAcc |
LREAL |
The maximum absolute acceleration value in units/s2, if the movement change has to be done with positive acceleration. |
+1x10-12...1.8x10308 |
- |
|
i_lrDec |
LREAL |
The maximum absolute acceleration value in units/s2, if the movement change has to be done with negative acceleration (deceleration). |
+1x10-12...1.8x10308 |
- |
|
i_lrJerk |
LREAL |
The absolute value of the jerk in units/s3 |
+1x10-12...1.8x10308 |
- |
|
Output |
Data type |
Description |
Range |
Default value |
|---|---|---|---|---|
|
q_lrT1 |
LREAL |
Time of the initial acceleration change |
0...1.8x10308 |
- |
|
q_lrT2 |
LREAL |
Time of constant acceleration |
0...1.8x10308 |
- |
|
q_lrT3 |
LREAL |
Time of the final acceleration change. |
0...1.8x10308 |
- |
|
q_etDiag |
General library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to a diagnostic message. |
- |
- |
|
|
q_etDiagExt |
POU-specific output on the diagnostic. q_etDiag = ET_Diag.Ok -> Status message q_etDiag <> ET_Diag.Ok -> Diagnostic message |
- |
- |
|
|
q_etAccChar |
Characteristic of the acceleration phases |
- |
- |
|
Data type |
Description |
|---|---|
|
LREAL |
Position increment for transition movement |
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
Ok |
0 |
Ok |
|
|
InputParameterInvalid |
12 |
Acc is outside the valid range. |
|
|
InputParameterInvalid |
13 |
Dec is outside the valid range. |
|
|
InputParameterInvalid |
14 |
Jerk is outside the valid range. |
|
Enumeration name: |
AccRange |
|
Enumeration value: |
12 |
|
Description: |
Acc is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The input for the acceleration threshold is not positive. |
Apply a positive value to input i_lrAcc. |
|
Enumeration name: |
DecRange |
|
Enumeration value: |
13 |
|
Description: |
Dec is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The input for the deceleration threshold is not positive. |
Apply a positive value to input i_lrDec. |
|
Enumeration name: |
JerkRange |
|
Enumeration value: |
14 |
|
Description: |
Jerk is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The input for the jerk threshold is not positive. |
Apply a positive value to input i_lrJerk. |
|
Enumeration name: |
Ok |
|
Enumeration value: |
0 |
|
Description: |
Ok |
The calculation has been completed successfully.
