IGroup.MoveDirectRelative method

Commands a movement of an axis group to a relative position without taking care of how (on which path) the target position is reached. The starting position is the actual position of the tool center point (TCP).

Namespace: IntervalZero.KINGSTAR.Base.Class

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

Syntax

C#VB

IMoveDirectCommand MoveDirectRelative(
       double[] distance,
       double velratio,
       double accratio,
       double decratio,
       double jerkratio,
       McCoordSystem coordSystem,
       McBufferMode bufferMode,
       McTransitionMode transitionMode,
       double[] transitionParameter
)

Function MoveDirectRelative(
       distance As Double(),
       velratio As Double,
       accratio As Double,
       decratio As Double,
       jerkratio As Double,
       coordSystem As McCoordSystem,
       bufferMode As McBufferMode,
       transitionMode As McTransitionMode,
       transitionParameter As Double()
)As IMoveDirectCommand

Parameters

distance

Type: double[]

The array of relative distance for each dimension in the specified coordinate system. The maximum size is 64.

velratio

Type: double

The ratio that adjusts the maximum velocity of each axis in a group. The value's range is 0.0 - 1.0, which means 0% - 100%. For example, if the max velocity of Axis A and B in a group is 1000 and 800 and you enter 0.8, A and B's max velocity will become 800 and 640, respectively.

accratio

Type: double

The ratio that adjusts the maximum acceleration of each axis in a group. The value's range is 0.0 - 1.0, which means 0% - 100%. For example, if the max acceleration of Axis A and B in a group is 1000 and 800 and you enter 0.8, A and B's max acceleration will become 800 and 640, respectively.

decratio

Type: double

The ratio that adjusts the maximum deceleration of each axis in a group. The value's range is 0.0 - 1.0, which means 0% - 100%. For example, if the max deceleration of Axis A and B in a group is 1000 and 800 and you enter 0.8, A and B's max deceleration will become 800 and 640, respectively.

jerkratio

Type: double

The ratio that adjusts the maximum jerk of each axis in a group. The value's range is 0.0 - 1.0, which means 0% - 100%. For example, if the max jerk of Axis A and B in a group is 1000 and 800 and you enter 0.8, A and B's max jerk will become 800 and 640, respectively.

coordSystem

Type: McCoordSystem

A coordinate system.

bufferMode

Type: McBufferMode

Defines the chronological sequence of a method.

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: IMoveDirectCommand

Returns a state of a direct move.

Remarks

For more information about how absolute, relative, and additive work, see Concepts > Motion.
Ratio parameters allow you to adjust the maximum velocity of an axis group.
Each axis in a group may or may not use the maximum velocity to move, because their distance might be different. For an axis that moves a short distance, it might not reach the maximum velocity.
If you don't need to adjust any ratio, enter 1.0. If you enter 0, it becomes 1.0 automatically.