Typically, you design a motion (with MotionDesigner) for a Tool/End-Effector. Then, typically, you add more parts, which you join to the Tool-Part, to create a more complex kinematic-chain. Finally, you use a servomotor to drive a part in the kinematic-chain, that has a different motion to the Tool-Part.

To plot the motion for the servomotor you can use a Measurement FB, add a Graph FB, and then export a list of positional data-points for the servo-controller.

While this is frequently satisfactory, it is preferable to export to the servo-controller a series of polynomials rather than a list of data-points.

The output from the Polynomial Fit FB is the best-fit motion to the data at its input-connector, but defined as a series of 5th order Polynomials.

You can export the Polynomials directly to MotionDesigner. In MotionDesigner, you can further manipulate the Polynomials, as required.

STEP 1:Add a Polynomial-Fit FB to the graphics-area

The Polynomial-Fit FB is now in the graphics-area

STEP 2:Connect a wire to its input-connector.

A wire is now connected to the input-connector of the Polynomial-Fit FB.

STEP 3.Open the Polynomial-Fit dialog:

The Polynomial-Fit dialog is now open.

STEP 4:See Polynomial Fit dialog

Notes: