Adds a relative distance based on the last commanded position in the Discrete Motion state. The definition of a commanded position can be found in McSource.
Namespace: IntervalZero.KINGSTAR.Base.Class
Assembly: IntervalZero.KINGSTAR.Base.Class (in IntervalZero.KINGSTAR.Base.dll) Version: 4.4.0.0
Syntax
IMoveAdditiveCommand MoveAdditive(
double distance,
double velocity,
double acceleration,
double deceleration,
double jerk,
McBufferMode bufferMode
)Function MoveAdditive(
distance As Double,
velocity As Double,
acceleration As Double,
deceleration As Double,
jerk As Double,
bufferMode As McBufferMode
)As IMoveAdditiveCommandParameters
distance
Type: double
The relative distance for the motion. [unit]
velocity
Type: double
The value of the maximum velocity. (not necessarily reached) [unit/second]
acceleration
Type: double
The value of the acceleration. The unit is determined by McProfileType. (increasing energy of the motor) [unit/second2] or [second]
deceleration
Type: double
The value of the deceleration. The unit is determined by McProfileType. (decreasing energy of the motor) [unit/second2] or [second]
jerk
Type: double
The value of the jerk. The unit is determined by McProfileType. [unit/second3] or [second]
bufferMode
Type: McBufferMode
Defines how to blend the velocity of two methods.
Return value
Type: IMoveAdditiveCommand
Returns the properties of an additive move.
Remarks
- After this command is completed, the total distance the axis traveled is the distance given by the previous move command plus the distance added by MoveAdditive.
- If the previous command is a moving command and is being aborted, when MoveAdditive is run, the distance the axis will travel is the remaining distance left by the previous command plus the distance added by MoveAdditive.
- If the previous command is a velocity command, it will be aborted and MoveAdditive is executed.
- For more information about how the blending modes work, see Concepts > Blend movement.
See also