IMotion.SimulateAxisAbsolute method

Calculates the duration an absolute move takes to complete.

Namespace: IntervalZero.KINGSTAR.Base.Api

Assembly: IntervalZero.KINGSTAR.Base.Api (in IntervalZero.KINGSTAR.Base.dll) Version: 4.4.0.0

Syntax

KsReturn<McMoveDuration> SimulateAxisAbsolute(
       int Index,
       double Position,
       double Velocity,
       double Acceleration,
       double Deceleration,
       double Jerk,
       McDirection Direction
)

Function SimulateAxisAbsolute(
       Index As Integer,
       Position As Double,
       Velocity As Double,
       Acceleration As Double,
       Deceleration As Double,
       Jerk As Double,
       Direction As McDirection
) As KsReturn(Of McMoveDuration)

Parameters

Index

Type: int

The index of an axis. Indexes are zero based. Aliases affect this parameter.

Position

Type: double

The target position for the motion. [unit] (negative or positive)

Velocity

Type: double

A value of the maximum velocity. Not necessarily reached if the target position is close. [unit/second]

Acceleration

Type: double

A value of the acceleration. Always positive. The unit is determined by McProfileType. (increasing power of the motor) [unit/second²] or [second]

Deceleration

Type: double

A value of the deceleration. Always positive. The unit is determined by McProfileType. (decreasing power of the motor) [unit/second²] or [second]

Jerk

Type: double

A value of the jerk. Always positive. The unit is determined by McProfileType. [unit/second³] or [second]

Direction

Type: McDirection

The moving direction of an axis.

Return value

Type: KsReturn<McMoveDuration>

Returns a KsError code and an McMoveDuration value.

Remarks

When modulo axis is enabled, the modulo value will be applied to the Position parameter, and the axis movement is simulated according to the configured Direction.

For example, with a modulo value of 360, when Direction is set to:

mcShortestWay / mcCurrentDirection: The axis simulates movement along the shortest distance to reach the target. If there is a tie, the axis will simulate movement in the positive direction. For example, if the current position is 0 and the target position is 340, the axis will simulate moving -20 to reach the target position.
mcPositiveDirection: The axis simulates movement in the positive direction to reach the target. For example, if the current position is 0 and the target position is -20, the axis will simulate moving 340 to reach the target position.
mcNegativeDirection: The axis simulates movement in the negative direction to reach the target. For example, if the current position is 0 and the target position is 20, the axis will simulate moving -340 to reach the target position.

Examples

N/A