AVS – Motion control unit

Block SymbolLicensing group: ADVANCED

Function Description
The AVS block generates time-optimal trajectory from initial steady position 0 to a final steady position sm while respecting the constraints on the maximal acceleration am, maximal deceleration dm and maximal velocity vm. When rising edge (off $\to$ on) occurs at the SET input, the block is initialized for current values of the inputs am, dm, vm and sm. The RDY output is set to offbefore the first initialization and during the initialization phase, otherwise it is set to 1. When rising edge (off $\to$ on) occurs at the START input, the block generates the trajectory at the outputs a, v, s and tt, where the signals correspond to acceleration, velocity, position and time respectively. The BSY output is set to onwhile the trajectory is being generated, otherwise it is off.

Inputs

START	Starting signal (rising edge)	Bool
SET	Initialize/compute the trajectory for the current inputs	Bool
am	Maximal allowed acceleration [m/s $^{2}$ ]	Double (F64)
dm	Maximal allowed deceleration [m/s $^{2}$ ]	Double (F64)
vm	Maximum allowed velocity [m/s]	Double (F64)
sm	Desired final position [m] (initial position is 0)	Double (F64)

Outputs

a	Acceleration [m/s $^{2}$ ]	Double (F64)
v	Velocity [m/s]	Double (F64)
s	Position [m]	Double (F64)
tt	Time [s]	Double (F64)
RDY	Flag indicating that the block is ready to generate the trajectory	Bool
BSY	Flag indicating that the trajectory is being generated	Bool

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