FB_RgPosStartOptimised - GetPathDescription (Method)

Overview

Task

Get the complete path description for further analysis via FB_PathForJerkPositioning and its methods.

Description

A motion positioning operation can be defined by means of FB_RgPosStartOptimised (motion operation defined and calculated based on velocity, acceleration and travel distance) or FB_PathForJerkPositioning (motion operation defined and calculated based on jerk phases and their duration times).

Both POUs deliver different results concerning point of view:

oFB_RgPosStartOptimised delivers jerk phases and their duration times.

oFB_PathForJerkPositioning delivers position, velocity and acceleration at a specific point in time of the motion positioning movement.

With the method GetPathDescription it is possible to convert the motion instruction defined by FB_RgPosStartOptimised into a function block which can be handled by analysis methods of FB_PathForJerkPositioning.

This way the same motion positioning movement can be analyzed from different points of view.

Before GetPathDescription can be executed, the motion operation has to be defined with the method InitialiseFB and calculated with the method CalculateRequiredMotion (see Usage section steps 1, 2 and 5 in description of FB_RgPosStartOptimised).

Return Value