IMotion.MoveAxisContinuousAbsolute method

Commands a controlled motion to a specified absolute position ending with the specified velocity.

Namespace: IntervalZero.KINGSTAR.Base.Api

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

Syntax

KsCommandStatus MoveAxisContinuousAbsolute(
       int Index,
       double Position,
       double Velocity,
       double EndVelocity,
       double Acceleration,
       double Deceleration,
       double Jerk,
       McDirection Direction,
       McBufferMode BufferMode
)

Function MoveAxisContinuousAbsolute(
       Index As Integer,
       Position As Double,
       Velocity As Double,
       EndVelocity As Double,
       Acceleration As Double,
       Deceleration As Double,
       Jerk As Double,
       Direction As McDirection,
       BufferMode As McBufferMode
) As KsCommandStatus

Parameters

Index [in]

Type: int

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

Position [in]

Type: double

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

Velocity [in]

Type: double

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

EndVelocity [in]

Type: double

The value of the end velocity. Signed value. [second]

Acceleration [in]

Type: double

The value of the acceleration. The unit is determined by McProfileType. [unit/second2] or [second]

Deceleration [in]

Type: double

The value of the deceleration. The unit is determined by McProfileType. [unit/second2] or [second]

Jerk [in]

Type: double

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

Direction [in]

Type: McDirection

The moving direction of an axis.

BufferMode [in]

Type: McBufferMode

Defines how to blend the velocity of two methods.

Return value

Type: KsCommandStatus

Returns the KsCommandStatus class.

Remarks

If the commanded position is reached and no new motion command is put into the buffer, the axis continues to run with the specified EndVelocity.
If EndVelocity is less than Velocity, the axis will use EndVelocity to run after the commanded position has been reached; if EndVelocity is greater than Velocity, the axis will use Velocity to run.
This method can be replaced by the combination of MoveAxisAbsolute and MoveAxisVelocity if BufferMode is implemented on these methods.
When modulo axis is enabled, the modulo value will be applied to the Position parameter and the axis will move according to the configured Direction.
For example, with a modulo value of 360, when Direction is set to:
- mcShortestWay / mcCurrentDirection: The axis takes the shortest distance to reach the target. If there is a tie, the axis will move in the positive direction to reach the target. For example, if the current position is 0 and the target position is 340, the axis will move -20 to reach the target position, and the final position will be 340.
- mcPositiveDirection: The axis moves 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 move 340 to reach the target position.
- mcNegativeDirection: The axis moves 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 move -340 to reach the target position, and the final position will be 20.

Examples

N/A