FC_CalcAccelerationChange - General Information
|
Type: |
Function |
|
Available as of: |
V1.5.3.0 |
Calculate distance, needed time and final velocity to reach dedicated acceleration value based on present values of velocity, acceleration and a constant jerk value during transition.
The function FC_CalcAccelerationChange calculates the position increment, needed time and final velocity to reach a dedicated acceleration value based on present velocity, acceleration and a constant jerk for this transition movement.
NOTE: If the jerk is not positive, you get q_lrV=i_lrV0 and q_lrX=q_lrT=0.
|
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_lrA1 |
LREAL |
Final acceleration in units/s2 |
-1.8x10308...1.8x10308 |
- |
|
i_lrJ |
LREAL |
The absolute value of the jerk in units/s3 |
+1x10-12...1.8x10308 |
- |
|
Output |
Data type |
Description |
Range |
Default value |
|---|---|---|---|---|
|
q_lrX |
LREAL |
Position increment needed to do the acceleration change |
-1.8x10308...1.8x10308 |
- |
|
q_lrV |
LREAL |
Velocity after the acceleration change |
-1.8x10308...1.8x10308 |
- |
|
q_lrT |
LREAL |
Time needed for the required acceleration change |
0...1.8x10308 |
- |
|
Data type |
Description |
|---|---|
|
BOOL |
Always FALSE |
