IAxis.MoveAbsolute method

Commands a controlled motion to a specified absolute position.

Namespace: IntervalZero.KINGSTAR.Base.Class

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

Syntax

C#VB

IMoveAbsoluteCommand MoveAbsolute(
       double position,
       double velocity,
       double acceleration,
       double deceleration,
       double jerk,
       McDirection direction,
       McBufferMode bufferMode
)

Function MoveAbsolute(
       position As Double,
       velocity As Double,
       acceleration As Double,
       deceleration As Double,
       jerk As Double,
       direction As McDirection,
       bufferMode As McBufferMode
)As IMoveAbsoluteCommand

Parameters

position

Type: double

The target position for the motion. [unit] (negative or positive)

velocity

Type: double

The value of the maximum velocity. Not necessarily reached if the target position is close. [unit/second]

acceleration

Type: double

The value of the acceleration. Always positive. The unit is determined by McProfileType. (increasing energy of the motor) [unit/second²] or [second]

deceleration

Type: double

The value of the deceleration. Always positive. The unit is determined by McProfileType. (decreasing energy of the motor) [unit/second²] or [second]

jerk

Type: double

The value of the jerk. Always positive. The unit is determined by McProfileType. [unit/second³] or [second]

direction

Type: McDirection

The moving direction of an axis.

bufferMode

Type: McBufferMode

Defines how to blend the velocity of two methods.

Return value

Type: IMoveAbsoluteCommand

Returns the properties of an absolute move.

Remarks

If this command is aborted, the untraveled distance will be abandoned.
This action completes with velocity zero if no further actions are pending.
If there is only one mathematical solution to reach the commanded position (like in linear systems), the value of the input Direction is ignored.
For modulo axis, valid absolute position values are in the range of [0, 360), or corresponding range. The application however may shift the "commanded position" of MoveAbsolute into the corresponding modulo range.
The enum type mcShortestWay focuses on a trajectory that goes through the shortest route. The decision which direction to go is based on the current position where the command is sent.
For more information about how the blending modes work, see Concepts > Blend movement.