IMotion.MoveAxisAdditive method

Adds a relative distance based on the last commanded position in the Discrete Motion state. The definition of a commanded position can be found in McSource.

Namespace: IntervalZero.KINGSTAR.Base.Api

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

Syntax

C#VB

KsCommandStatus MoveAxisAdditive(
       int Index,
       double Distance,
       double Velocity,
       double Acceleration,
       double Deceleration,
       double Jerk,
       McBufferMode BufferMode
)

Function MoveAxisAdditive(
       Index As Integer,
       Distance As Double,
       Velocity As Double,
       Acceleration As Double,
       Deceleration As Double,
       Jerk As Double,
       BufferMode As McBufferMode
) As KsCommandStatus

Parameters

Index [in]

Type: int

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

Distance [in]

Type: double

The relative distance for the motion. [unit]

Velocity [in]

Type: double

A value of the maximum velocity. (not necessarily reached) [unit/second]

Acceleration [in]

Type: double

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

Deceleration [in]

Type: double

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

Jerk [in]

Type: double

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

BufferMode [in]

Type: McBufferMode

Defines how to blend the velocity of two methods.

Return value

Type: KsCommandStatus

Returns the KsCommandStatus class.

Remarks

After this command is completed, the total distance the axis traveled is the distance given by the previous move command plus the distance added by MoveAxisAdditive.
If the previous command is a moving command and is being aborted, when MoveAxisAdditive is run, the distance the axis will travel is the remaining distance left by the previous command plus the distance added by MoveAxisAdditive.
If the previous command is a velocity command, it will be aborted and MoveAxisAdditive is run.
For more information about how the blending modes work, see Concepts > Blend movements.

Examples

N/A