FB_RgPosStartOptimised - General Information

Overview

Task

A positioning movement consists of several phases. This function block calculates the corresponding durations and jerk values of these phases.

Description

A typical motion task is a positioning operation, for example, to change the velocity and acceleration within a specified movement distance.

During this motion some boundary conditions regarding the velocity, acceleration, and jerk must not be violated.

This task can be solved by applying 7 jerk phases. An example is shown in figure below.

The function block FB_RgPosStartOptimised calculates the durations and the jerk values for these phases.

Example of a positioning path with all its phases

 

 

Usage

oThe usage of this function block (to calculate a positioning operation, with up to seven jerk phases) is explained by a simple project shown in figure below.

o 1. Initialize FB_RgPosStartOptimised with the desired values of the positioning.

o2. Trigger the calculation of the positioning job.

o3. Check for errors via the method GetJobResult (shown here as example code within an ETEST project).

o4. With methods as GetTotalTime some information about the result can be accessed directly.

o5. By FB_RgPosStartOptimised.GetPathDescription you can access the complete path information, which is available via the object oriented object FB_PathForJerkPositioning and its methods.

Example to create and access a positioning path

 

 

Interface

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.

Methods