Commands a movement of an axis group to a specified absolute position in the specified coordinate system without taking care of how (on which path) the target position is reached.
Namespace: IntervalZero.KINGSTAR.Local.Api
Assembly: IntervalZero.KINGSTAR.Local.Api (in IntervalZero.KINGSTAR.Local.dll) Version: 4.4.0.0
Syntax
public KsCommandStatus MoveDirectAbsolute(
int Index,
double[] Position,
double VelRatio,
double AccRatio,
double DecRatio,
double JerkRatio,
McCoordSystem CoordSystem,
McBufferMode BufferMode,
McTransitionMode TransitionMode,
double[] TransitionParameter
)Public Function MoveDirectAbsolute(
Index As Integer,
Position 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 KsCommandStatusParameters
Index [in]
Type: int
The index of an axis group. Indexes are zero based. You can have up to 32 groups.
Position [in]
Type: double[]
The array of absolute end positions for each dimension in the specified coordinate system. The maximum size is 64.
VelRatio [in]
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 [in]
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 [in]
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 [in]
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 [in]
Type: McCoordSystem
A coordinate system.
BufferMode [in]
Type: McBufferMode
Defines the chronological sequence of a method.
TransitionMode [in]
Type: McTransitionMode
Inserts a transition curve.
TransitionParameter [in]
Type: double[]
The additional parameter for the transition mode. If TransitionMode is set to mcNone, this parameter has no effect.
Return value
Type: KsCommandStatus
Returns the KsCommandStatus class.
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.
Examples
N/ASee also