IAxis.MoveRelative method

Commands a controlled motion of a specified distance relative to the current set position. The relative distance is added to the current set position at the time this command is called.

Namespace: IntervalZero.KINGSTAR.Base.Class

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

Syntax

C#VB

IMoveRelativeCommand MoveRelative(
       double distance,
       double velocity,
       double acceleration,
       double deceleration,
       double jerk,
       McBufferMode bufferMode
)

Function MoveRelative(
       distance As Double,
       velocity As Double,
       acceleration As Double,
       deceleration As Double,
       jerk As Double,
       bufferMode As McBufferMode
)As IMoveRelativeCommand

Parameters

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: IMoveRelativeCommand

Returns the properties of a relative 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.
For more information about how the blending modes work, see Concepts > Blend movement.