Function blocks for the drive modules (nodes)

The following function blocks are available for the various drive modules:

• Differential drive module: FB_501_VKC_NODE_Differential
• Steering drive module: FB_501_VKC_NODE_Steer
• Travel/steering drive module: FB_501_VKC_NODE_DriveSteer
• Turntable drive module: FB_501_VKC_NODE_Swivel

• The function blocks perform the calculations to convert the specifications of the master function block into axis setpoints.
• The function blocks calculate odometry data backwards from the actual axis values.

The associated M_SetConfig method has more or fewer configuration parameters, depending on the type of drive module. The node for differential drive modules, for example, has the special feature that it is always in the kinematic origin. A rotation of the vehicle around its own axis always means a rotation around the center of the differential.

• "M_GetDiag" method
• "M_GetState" method
• "M_SetConfig (Differential)" method
• "M_SetConfig (Steer/DriveSteer)" method
• "M_SetConfig (Swivel)" method