FB_PathForJerkPositioning - SetJerkPhases (Method)
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Type: |
Method |
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Available as of: |
V1.5.3.0 |
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Versions: |
Current version |
Set several jerk phases (with time- and jerk arrays) within one command.
This method sets several jerk phases within one command.
As input the method requires the number of jerk phases n plus its durations and jerk values as vector.
Both vectors are required to hold at least n values, no additional check will be performed.
The vectors use the indices 0, 1, 2, ..., n-1.
This method provides no diagnostic information and no direct feedback value of the method.
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Input |
Data type |
Description |
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i_duiNumberOfJerkPhases |
DINT |
Number of jerk phases |
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i_alrT |
ARRAY[0..Gc_udiMaxNumberOfJerkPhases] OF REAL |
Duration of jerk phases in s |
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i_alrJ |
ARRAY[0..Gc_udiMaxNumberOfJerkPhases] OF REAL |
Jerk values as vectors in units/s3 |
