IMotion.SetAxisMotionProfileOverride method

Sets the override values for the whole axis, and all methods that are working on that axis. The override parameters contribute as a factor to the calculation of the commanded velocity, acceleration, and jerk of the motion.

Namespace: IntervalZero.KINGSTAR.Base.Api

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

Syntax

C#VB

KsError SetAxisMotionProfileOverride(
       int Index,
       double VelocityFactor,
       double AccelerationFactor,
       double JerkFactor
)

Function SetAxisMotionProfileOverride(
       Index As Integer,
       VelocityFactor As Double,
       AccelerationFactor As Double,
       JerkFactor As Double
) As KsError

Parameters

Index

Type: int

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

VelocityFactor

Type: double

The new override factor for velocity.

AccelerationFactor

Type: double

The new override factor for acceleration or deceleration.

JerkFactor

Type: double

The new override factor for jerk.

Return value

Type: KsError

A return code of a method.

Remarks

It changes the velocity, acceleration and jerk without changing their original values. This function takes effect immediately after it is sent. If it is used while the axis is in motion, the current motion will be changed. To avoid the unexpected result, we suggest using it in the Standstill state.
The input AccelerationFactor acts on positive and negative acceleration (deceleration).
This function sets the factor. The override factor is valid until a new override is set.
The default values of the override factor are 1.0.
The value of the overrides can be between 0.0 and 1.0. The behavior of values > 1.0 is vendor specific. Values < 0.0 are not allowed. The value 0.0 is not allowed for AccelerationFactor and JerkFactor.
The value 0.0 set to the VelocityFactor stops the axis without bringing it to the state Standstill.
Override doesn't act on slave axes (axes in the state Synchronized Motion).
The function doesn't influence the state diagram of the axis.
VelocityFactor can be changed at any time and acts directly on the ongoing motion.
If in "Discrete Motion," reducing the AccelerationFactor and/or JerkFactor can lead to a position overshoot – a possible cause of damage.

Examples

N/A