IMotion.MoveAxisContinuousRelative method

Commands a controlled motion of a specified relative distance 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 MoveAxisContinuousRelative(
       int Index,
       double Distance,
       double Velocity,
       double EndVelocity,
       double Acceleration,
       double Deceleration,
       double Jerk,
       McBufferMode BufferMode
)

Function MoveAxisContinuousRelative(
       Index As Integer,
       Distance As Double,
       Velocity As Double,
       EndVelocity 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

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]

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 distance 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.

Examples

N/A