IMotion.MoveAxisRelative method

Commands a controlled motion of a specified distance relative to the current set position. The relative distance is added to the current set position at the time this command is called.

Namespace: IntervalZero.KINGSTAR.Base.Api

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

Syntax

C#VB

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

Function MoveAxisRelative(
       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

If this command is aborted, the untraveled distance will be abandoned.
This action completes with velocity zero if no further actions are pending.
For more information about how the blending modes work, see Concepts > Blend movements.

Examples

N/A