Modeling FB | Add Polynomial-Fit FB

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Modeling FB | Add Polynomial-Fit FB

Why use a Polynomial-Fit FB?

It is often the case that your 'motion-design' is given to a 'Tool-Part'. Then, you add more Parts and join other Parts to the Tool-Part to create a more complex kinematic-chain.

A different Part, with a different motion to the Tool-Part, is driven by a servo-motor. This is normal inverse-kinematics.

If you want to drive the Part with a servo-motor, you can use a Measurement FB and a Graph FB, and can give a servo-controller the required motion of a servo-motor as a series of data-points.

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

The output from the Poly-Fit FB is the 'best-fit' motion of the input, but defined as a series of one or more 5th order Polynomials. You can save the output of the 'best-fit':

as 'motion-values' at its output-connector

to a CSV file,

in the format required for a Schneider Electric (Elau) servo-controller.

Note: The Poly-Fit FB uses all three data-channels to find the 'Best-Fit' to the data at its input-connector.

See also: Polynomial Fit dialog-box

Add Polynomial FB

Add Polynomial-Fit FB

Modeling FB toolbar > Polynomial-Fit FB

Menu :

Add menu > Add Polynomial-Fit  FB

Dialog-Box :

Polynomial Fit dialog-box

Add :




STEP 1.Add the Polynomial-Fit FB to the graphic-area

1.Click Modeling FB toolbar > Add Polynomial Fit FB

2.Click again in the graphic-area to 'place' the Polynomial-Fit FB.

The Polynomial Fit FB is now in the graphic-area.

The Polynomial Fit FB is now in the graphic-area.

STEP 2.Connect a wire to its input-connector

Each wire you connect to the Polynomial-Fit FB usually has three data-channels. See Data-Channels.

1.Add a Measurement FB to measure the linear or angular dimension you want to control with a Servo-motor

2.Connect a wire from the Measurement FB to the Polynomial Fit FB

STEP 3.Open the Polynomial-Fit FB dialog-box:

1.Double-click a Polynomial-Fit FB in the graphic-area

- or -

1.See How to Open a Dialog-Box