IMotion.JogGroup method

Commands a never-ending controlled motion at a specified velocity for an axis group.

Namespace: IntervalZero.KINGSTAR.Base.Api

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

Syntax

KsCommandStatus JogGroup(
       int Index,
       double[] Velocity,
       double Acceleration,
       double Deceleration,
       double Jerk,
       McCoordSystem CoordSystem
)

Function JogGroup(
       Index As Integer,
       Velocity As Double(),
       Acceleration As Double,
       Deceleration As Double,
       Jerk As Double,
       CoordSystem As McCoordSystem
) As KsCommandStatus

Parameters

Index [in]

Type: int

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

Velocity [in]

Type: double[]

A value of the specified velocity. [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]

CoordSystem [in]

Type: McCoordSystem

A coordinate system. It supports only ACS.

Return value

Type: KsCommandStatus

Returns the KsCommandStatus class.

Remarks

Because JogGroup keeps controlling the axis, it triggers an error if a limit is reached.
The Velocity, Acceleration, Deceleration and Jerk are for each axis in the group, not for the path values. If one of these parameters' values, for example, Acceleration, exceeds the maximum Acceleration of one of the axes in the group, the axis will use its own max Acceleration value. Other axes use the provided values.
Velocity can be modified when the axis group is running.
JogGroup can be used only in the GroupStandstill state.

Examples

N/A