IGroup.MoveLinearRelative method

Commands an interpolated linear movement on an axis group from the current position of the tool center point to a relative position in the specified coordinate system. The relative distance is added to the current 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

IMoveLinearCommand MoveLinearRelative(
       double[] distance,
       double velocity,
       double acceleration,
       double deceleration,
       double jerk,
       McCoordSystem coordSystem,
       McBufferMode bufferMode,
       McTransitionMode transitionMode,
       double[] transitionParameter
)

Function MoveLinearRelative(
       distance As Double(),
       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 IMoveLinearCommand

Parameters

distance

Type: double[]

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

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: IMoveLinearCommand

Returns a state of a linear move.

Remarks

For more information about how absolute, relative, and additive work, see Motion.
For more information about how the blending modes work, see Concepts > Blend movements.
When you use blending in MoveLinear functions, you need to select a TransitionMode and fill in TransitionParameter. If you set them to mcNone and NULL with a blending mode, an error will occur.