IAxis.MoveContinuousRelative method

Commands a controlled motion of a specified relative distance ending with the specified velocity.

Namespace: IntervalZero.KINGSTAR.Base.Class

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

Syntax

C#VB

IMoveContinuousRelativeCommand MoveContinuousRelative(
       double distance,
       double velocity,
       double endVelocity,
       double acceleration,
       double deceleration,
       double jerk,
       McBufferMode bufferMode
)

Function MoveContinuousRelative(
       distance As Double,
       velocity As Double,
       endVelocity As Double,
       acceleration As Double,
       deceleration As Double,
       jerk As Double,
       bufferMode As McBufferMode
)As IMoveContinuousRelativeCommand

Parameters

distance

Type: double

The relative distance for the motion. [unit]

velocity

Type: double

The value of the maximum velocity. [unit/second]

endVelocity

Type: double

The value of the end velocity. Signed value. [second]

acceleration

Type: double

The value of the acceleration. The unit is determined by McProfileType. [unit/second²] or [second]

deceleration

Type: double

The value of the deceleration. The unit is determined by McProfileType. [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: IMoveContinuousRelativeCommand

Returns the properties of a continuous relative move.

Remarks

If the commanded position is reached and no new motion command is put into the buffer, the axis continues to run with the specified EndVelocity.
If EndVelocity is less than Velocity, the axis will use EndVelocity to run after the commanded distance has been reached; if EndVelocity is greater than Velocity, the axis will use Velocity to run.
This method can be replaced by the combination of MoveRelative and MoveVelocity if BufferMode is implemented on these methods.