Motion.MoveHelicalRelative method

Commands an interpolated helical 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.

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 MoveHelicalRelative(
       int Index,
       McCircMode CircMode,
       double[] AuxPoint,
       double[] EndPoint,
       McCircPathChoice PathChoice,
       double Depth,
       double Pitch,
       double Velocity,
       double Acceleration,
       double Deceleration,
       double Jerk,
       McCoordSystem CoordSystem,
       McBufferMode BufferMode,
       McTransitionMode TransitionMode,
       double[] TransitionParameter
)

Public Function MoveHelicalRelative(
       Index As Integer,
       CircMode As McCircMode,
       AuxPoint As Double[],
       EndPoint As Double[],
       PathChoice As McCircPathChoice,
       Depth As Double,
       Pitch 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.

CircMode [in]

Type: McCircMode

Specifies the meaning of the input signal AuxPoint.

AuxPoint [in]

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 [in]

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 [in]

Type: McCircPathChoice

The choice of path.

Depth [in]

Type: double

The height of the helix.

Pitch [in]

Type: double

The height of one full helix turn.

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 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 Motion.
For more information about how the axes move in the McCircMode mode, see McCircMode.
The Depth and Pitch parameters are illustrated in the following figure.

The velocity of interpolation is tangential velocity.

Clockwise path	Counterclockwise path

Examples

N/A