IMotion.MoveLinearAdditive method

Commands an interpolated linear movement on an axis group from the current position of the tool center point to a relative position in the specified coordinate system. The relative distance is added to the current set position at the time of the execution.

Namespace: IntervalZero.KINGSTAR.Base.Api

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

Syntax

C#VB

KsCommandStatus MoveLinearAdditive(
       int Index,
       double[] Distance,
       double Velocity,
       double Acceleration,
       double Deceleration,
       double Jerk,
       McCoordSystem CoordSystem,
       McBufferMode BufferMode,
       McTransitionMode TransitionMode,
       double[] TransitionParameter
)

Function MoveLinearAdditive(
       Index As Integer,
       Distance As Double(),
       Velocity As Double,
       Acceleration As Double,
       Deceleration As Double,
       Jerk As Double,
       CoordSystem As McCoordSystem,
       BufferMode As McBufferMode,
       TransitionMode As McTransitionMode,
       TransitionParameter As Double()
) As KsCommandStatus

Parameters

Index [in]

Type: int

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

Distance [in]

Type: double[]

The array of relative distance for each dimension in the specified coordinate system. The maximum size is 64.

Velocity [in]

Type: double

The maximum velocity of the path for the coordinate system in which the path is defined. Always positive. Not necessarily reached. [unit/second]

Acceleration [in]

Type: double

The maximum acceleration. Always positive. Not necessarily reached. The unit is determined by McProfileType. [unit/second²] or [second]

Deceleration [in]

Type: double

The maximum deceleration. Always positive. Not necessarily reached. The unit is determined by McProfileType. [unit/second²] or [second]

Jerk [in]

Type: double

The maximum jerk. Always positive. Not necessarily reached. The unit is determined by McProfileType. [unit/second³] or [second]

CoordSystem [in]

Type: McCoordSystem

A coordinate system.

BufferMode [in]

Type: McBufferMode

Defines how to blend the velocity of two methods.

TransitionMode [in]

Type: McTransitionMode

Inserts a transition curve.

TransitionParameter [in]

Type: double[]

The additional parameter for the transition mode. If TransitionMode is set to mcNone, this parameter has no effect.

Return value

Type: KsCommandStatus

Returns the KsCommandStatus class.

Remarks

For more information about how absolute, relative, and additive work, see Motion.
For more information about how the blending modes work, see Concepts > Blend movements.
When you use blending in MoveLinear functions, you need to select a TransitionMode and fill in TransitionParameter. If you set them to mcNone and NULL with a blending mode, an error will occur.

Examples

N/A