Function that calculates the acceleration and jerk values that allow, starting from a standstill, to reach spe speed in time tAcc.
Syntax |
i32 kin_conv (real spe, real tAcc, real pJerk, real rAcc, real rJerk [, real maxAcc=0.0]) |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
spe |
Velocity value to be reached starting from 0. Its absolute value [unit/sec] is used |
||||||||||||||
tAcc |
Time to go from 0 to spe [sec] |
||||||||||||||
pJerk |
Value between 0 and 1 that determines how much jerk to apply to the acceleration segment: •0, strong stepped acceleration (jerk not used) •1, gentle triangle acceleration (fully jerked segment - speed ramp to S) |
||||||||||||||
rAcc |
Variable in which the required acceleration value is written [units/sec^2] |
||||||||||||||
rJerk |
Variable in which the jerk value needed is written [units/sec^3] |
||||||||||||||
maxAcc |
Maximum value the acceleration can take. (optional, default 0.0) Its absolute value is used |
||||||||||||||
Result |
Returns:
|
||||||||||||||
Validity |
Rule, Task |
||||||||||||||
Note |
In the case of acceleration limited by maxAcc, when possible, the function still tries to guarantee the duration of the acceleration segment tAcc at the expense of the jerk factor pJerk |
