Motion.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.OpcUa.Api

Assembly: IntervalZero.KINGSTAR.OpcUa.Api (in IntervalZero.KINGSTAR.OpcUa.Client.dll) Version: 4.4.0.0

Syntax

C#VB

public KsCommandStatus MoveLinearRelative(
       int Index,
       double[] Distance,
       double Velocity,
       double Acceleration,
       double Deceleration,
       double Jerk,
       McCoordSystem CoordSystem,
       McBufferMode BufferMode,
       McTransitionMode TransitionMode,
       double[] TransitionParameter
)

Public Function MoveLinearRelative(
       Index As Integer,
       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 KsCommandStatus

Parameters

Index [in]

Type: int

The index of an axis group. Indexes are zero based. You can have up to 32 groups.

Distance [in]

Type: double[]

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

Velocity [in]

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 [in]

Type: double

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

Deceleration [in]

Type: double

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

Jerk [in]

Type: double

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

CoordSystem [in]

Type: McCoordSystem

A coordinate system.

BufferMode [in]

Type: McBufferMode

Defines how to blend the velocity of two methods.

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 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.

Examples

N/A