Function that calculates the space and time required to reach the desired speed with specified acceleration and jerk.
Current(cPos, cSpeed, cAcc) and desired(dAcc, dJerk, targetSpeed) kinematics data must be entered. The posInfo and timeInfo parameters are then returned, i.e., the position at which the desired target speed will be reached and the time required to reach it.
Syntax |
i32 mv_to_cjv_info (stru_mvtocjv_info stru) |
|---|---|
stru |
Variable of type stru_mvtocjv_info containing the parameters of the function |
Result |
Returns a TRUE value if all parameters are correct, otherwise if acceleration or jerk is equal to 0 returns FALSE and alarm 9900 illegal arg is generated |
Validity |
Rule, Task |
Note |
Typically this function is used in conjunction with mv_to_cjv(). In that case, it is essential to provide the same input data as current values |
