IMotion.UpdateCommand method

Updates the motion parameters of a command.

Namespace: IntervalZero.KINGSTAR.Base.Api

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

Syntax

KsCommandStatus UpdateCommand(
       double Position,
       double Velocity,
       double EndVelocity,
       double Acceleration,
       double Deceleration,
       double Jerk,
       KsCommandStatus Status
)

Function UpdateCommand(
       Position As Double,
       Velocity As Double,
       EndVelocity As Double,
       Acceleration As Double,
       Deceleration As Double,
       Jerk As Double,
       Status As KsCommandStatus
) As KsCommandStatus

Parameters

Position

Type: double

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

Velocity

Type: double

A value of the maximum velocity. [unit/second]

EndVelocity

Type: double

A value of the end velocity. Signed value. [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]

Status

Type: KsCommandStatus

A KsCommandStatus class returns from a motion command.

Return value

Type: KsCommandStatus

Returns the KsCommandStatus class.

Remarks

When modulo axis is enabled, the modulo value will be applied to the target position of MoveAxisAbsolute and MoveAxisContinuousAbsolute. After the target position is updated, MoveAxisAbsolute and MoveAxisContinuousAbsolute will recalculate the distance based on the configured Direction.
The following table shows the functions and their parameters that can be used with UpdateCommand.

Methods	Parameters
IMotion.HaltAxis	Deceleration, Jerk
IMotion.InchAxis	Distance, Velocity, EndVelocity, Acceleration, Deceleration, Jerk
IMotion.JogAxis	Velocity, EndVelocity, Acceleration, Deceleration, Jerk
IMotion.MoveAxisAbsolute	Position, Velocity, Acceleration, Deceleration, Jerk
IMotion.MoveAxisAdditive	Distance, Velocity, Acceleration, Deceleration, Jerk
IMotion.MoveAxisContinuousAbsolute	Position, Velocity, EndVelocity, Acceleration, Deceleration, Jerk
IMotion.MoveAxisContinuousRelative	Distance, Velocity, EndVelocity, Acceleration, Deceleration, Jerk
IMotion.MoveAxisRelative	Distance, Velocity, Acceleration, Deceleration, Jerk
IMotion.MoveAxisVelocity	Velocity, EndVelocity, Acceleration, Deceleration, Jerk
IMotion.SetAxisGear	Acceleration, Deceleration, Jerk
IMotion.StopAxis	Deceleration, Jerk
IMotion.HaltGroup*	Deceleration, Jerk
IMotion.InchGroup*	Acceleration, Deceleration, Jerk
IMotion.JogGroup*	Acceleration, Deceleration, Jerk
IMotion.MoveLinearAbsolute*	Velocity, Acceleration, Deceleration, Jerk
IMotion.MoveLinearRelative*	Velocity, Acceleration, Deceleration, Jerk
IMotion.MoveLinearAdditive*	Velocity, Acceleration, Deceleration, Jerk
IMotion.MoveCircularAbsolute*	Velocity, Acceleration, Deceleration, Jerk
IMotion.MoveCircularRelative*	Velocity, Acceleration, Deceleration, Jerk
IMotion.MoveCircularAdditive*	Velocity, Acceleration, Deceleration, Jerk
IMotion.MoveHelicalAbsolute*	Velocity, Acceleration, Deceleration, Jerk
IMotion.MoveHelicalRelative*	Velocity, Acceleration, Deceleration, Jerk
IMotion.MoveHelicalAdditive*	Velocity, Acceleration, Deceleration, Jerk
IMotion.StopGroup*	Deceleration, Jerk

* Starting from KINGSTAR 4.5, UpdateCommand supports group motion APIs and their parameters listed on the table.

Examples

N/A