IMotion.SetGroupMotionProfileOverride method

Sets the override values for an axis group, and all methods that are working on that group. 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 SetGroupMotionProfileOverride(
       int Index,
       double VelocityFactor,
       double AccelerationFactor,
       double JerkFactor
)

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

Parameters

Index [in]

Type: int

The index of an axis group. Indexes are zero based. You can have up to 32 groups.

VelocityFactor [in]

Type: double

The new override factor for the velocity.

AccelerationFactor [in]

Type: double

The new override factor for the acceleration or deceleration.

JerkFactor [in]

Type: double

The new override factor for the 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 method takes effect immediately after it is sent. If it is used while the axis group 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 method 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 group without bringing it to the state Standstill.
Override doesn't act on slave axes (axes in the state Synchronized Motion).
The method doesn't influence the state diagram of the axis group.
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