Type:

Method

Available as of:

V1.5.3.0

Versions:

Current version

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_lrDeltaX

LREAL

Positioning distance (position after phase 33)

-1.8x10³⁰⁸...1.8x10³⁰⁸

-

i_lrVMax

LREAL

Cruising velocity (velocity in phase 2)

0<...1.8x10³⁰⁸

-

i_lrMaxAccInInitialMotionSequence

LREAL

Maximum acceleration (absolute) in the phases building up the cruising velocity (acceleration in phase 12)

0<...1.8x10³⁰⁸

-

i_lrMaxAccInTerminalMotionSequence

LREAL

Maximum acceleration (absolute) in the phases building up the target motion state (acceleration in phase 32)

0<...1.8x10³⁰⁸

-

i_lrJerk

LREAL

Constant jerk (absolute) the acceleration is modified with (in phases 11,13, 31, 33)

0<...1.8x10³⁰⁸

-

i_lrTravelTimeConstrain

Duration of the positioning in s (only used if > 0.0)

-1.8x10³⁰⁸...1.8x10³⁰⁸

0.0*

i_lrAllowedDistanceError

LREAL

Allowed distance error for the positioning distance (needed if an iterative algorithm is used to determine the optimal cruising velocity).

-1.8x10³⁰⁸...1.8x10³⁰⁸

0.0001*

i_lrAllowedTimeErrorInSeconds

LREAL

Allowed time error (in s) used only in case of an unequal travel time constrain (needed for the iterative algorithm is used to determine the optimal cruising velocity).

-1.8x10³⁰⁸...1.8x10³⁰⁸

0.0005*

* Default values are used in case inputs are not set.

InputParameterInvalid

VelRange

11

Vel is outside the valid range.

InputParameterInvalid

AccRange

12

Acc is outside the valid range.

InputParameterInvalid

DecRange

13

Dec is outside the valid range.

InputParameterInvalid

JerkRange

14

Jerk is outside the valid range.

InputParameterInvalid

InvalidInputValue

324

The input value is outside the valid range.

InputParameterInvalid

TimeBaseRange

101

TimeBase is outside the valid range.

Enumeration name:

AccRange

Enumeration value:

12

Description:

Acc is outside the valid range.

-

The input for the acceleration threshold is not positive.

Apply a positive value to input i_lrMaxAccInInitialMotionSequence.

Enumeration name:

DecRange

Enumeration value:

13

Description:

Dec is outside the valid range.

-

The input for the deceleration threshold is not positive.

Apply a positive value to input i_lrMaxAccInTerminalMotionSequence.

Enumeration name:

InvalidInputValue

Enumeration value:

324

Description:

The input value is outside the valid range.

-

 The input for the allowed distance error or time error is not positive.

Apply a positive value to input i_lrAllowedDistanceError and input i_lrAllowedTimeErrorInSeconds.

Enumeration name:

JerkRange

Enumeration value:

14

Description:

Jerk is outside the valid range.

-

 The input for the jerk threshold is not positive.

Apply a positive value to input i_lrJerk.

Enumeration name:

TimeBaseRange

Enumeration value:

101

Description:

TimeBase is outside the valid range.

-

 The input for the allowed travel time is negative.

Apply a positive value to input i_lrTravelTimeConstrain.

Enumeration name:

VelRange

Enumeration value:

11

Description:

Vel is outside the valid range.

-

The input for the maximal cruising velocity is not positive.

 Apply a positive value to input i_lrVMax.