Master function block

The FB_501_VKC_NODE_MASTER function block performs the calculations to convert specified speed vectors (forward, sideways, and rotation direction) into wheel speeds of the vehicle. The specified speeds always refer to the kinematic zero point (see Definition of the directions of travel).

The configured mechanical dimensions, software limitations and application limits are taken into account in the calculation. This configuration can be transferred via a method.

• Definition of kinematic variables
• "M_SetConfig" method
• "M_ComputeConfig" method
• "M_ExecuteMaster" method
• "M_SetConfigLimits" method
• "M_SetActPosition" method
• "M_GetDiag" method
• "M_GetOdometry" method
• "M_GetState" method