IGroup.MoveCircularAdditive method

Commands an interpolated circular movement on an axis group from the current position of the tool center point. The end point and the auxiliary point (the meaning of both points depends on the CircMode mode you select) are defined in the specified coordinate system relative to the starting point. The specified relative distance is added to the set position at the time of the execution.

Namespace: IntervalZero.KINGSTAR.Base.Class

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

Syntax

C#VB

IMoveCircularCommand MoveCircularAdditive(
       McCircMode circMode,
       double[] auxPoint,
       double[] endPoint,
       McCircPathChoice pathChoice,
       double velocity,
       double acceleration,
       double deceleration,
       double jerk,
       McCoordSystem coordSystem,
       McBufferMode bufferMode,
       McTransitionMode transitionMode,
       double[] transitionParameter
)

Function MoveCircularAdditive(
       circMode As McCircMode,
       auxPoint As Double(),
       endPoint As Double(),
       pathChoice As McCircPathChoice,
       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 IMoveCircularCommand

Parameters

circMode

Type: McCircMode

Specifies the meaning of the input signal AuxPoint.

auxPoint

Type: double[]

The array of positions for each dimension in the specified coordinate system. The maximum size is 64. These positions are defined relatively to the positions of the starting point.

endPoint

Type: double[]

The array of positions for each dimension in the specified coordinate system. The maximum size is 64. These positions are defined relatively to the positions of the starting point.

pathChoice

Type: McCircPathChoice

The choice of path.

velocity

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

Type: double

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

deceleration

Type: double

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

jerk

Type: double

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

coordSystem

Type: McCoordSystem

A coordinate system.

bufferMode

Type: McBufferMode

Defines how to blend the velocity of two methods.

transitionMode

Type: McTransitionMode

Inserts a transition curve.

transitionParameter

Type: double[]

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

Return value

Type: IMoveCircularCommand

Returns a state of a circular move.

Remarks

For more information about how absolute, relative, and additive work, see Motion.
For more information about how the axes move in the McCircMode mode, see McCircMode.
For more information about how the blending modes work, see Concepts > Blend movements.
When you use blending in MoveCircular functions, you need to select a TransitionMode and fill in TransitionParameter, even if MoveCircular has not supported them yet. If you set them to mcNone and NULL with a blending mode, an error will occur.