UpdateCommand

Updates the motion parameters of a command.

Syntax

KsCommandStatus UpdateCommand(
     double Position,
     double Velocity,
     double EndVelocity,
     double Acceleration,
     double Deceleration,
     double Jerk,
     KsCommandStatus Status
);

Parameters

Position: the commanded position for the motion. [unit] (negative or positive)

Velocity: the value of the maximum velocity. [unit/second]

EndVelocity: the value of the end velocity. Signed value. [unit/second]

Acceleration: the value of the acceleration. Always positive. The unit is determined by the McProfileType type. (increasing power of the motor) [unit/second²] or [second]

Deceleration: the value of the deceleration. Always positive. The unit is determined by the McProfileType type. (decreasing power of the motor) [unit/second²] or [second]

Jerk: the value of the jerk. Always positive. The unit is determined by the McProfileType type. [unit/second³] or [second]

Status: the KsCommandStatus structure returned when the command was initiated.

Return value

Returns the KsCommandStatus structure.

Remarks

When modulo axis is enabled, the modulo value will be applied to the target position of MoveAxisAbsolute and MoveAxisContinuousAbsolute. After the target position is updated, MoveAxisAbsolute and MoveAxisContinuousAbsolute will recalculate the distance based on the configured Direction.
The following table shows the functions and their parameters that can be used with UpdateCommand.

Functions	Parameters
HaltAxis	Deceleration, Jerk
InchAxis	Distance, Velocity, EndVelocity, Acceleration, Deceleration, Jerk
JogAxis	Velocity, EndVelocity, Acceleration, Deceleration, Jerk
MoveAxisAbsolute	Position, Velocity, Acceleration, Deceleration, Jerk
MoveAxisAdditive	Distance, Velocity, Acceleration, Deceleration, Jerk
MoveAxisContinuousAbsolute	Position, Velocity, EndVelocity, Acceleration, Deceleration, Jerk
MoveAxisContinuousRelative	Distance, Velocity, EndVelocity, Acceleration, Deceleration, Jerk
MoveAxisRelative	Distance, Velocity, Acceleration, Deceleration, Jerk
MoveAxisVelocity	Velocity, EndVelocity, Acceleration, Deceleration, Jerk
SetAxisGear	Acceleration, Deceleration, Jerk
StopAxis	Deceleration, Jerk
HaltGroup*	Deceleration, Jerk
InchGroup*	Acceleration, Deceleration, Jerk
JogGroup*	Acceleration, Deceleration, Jerk
MoveLinearAbsolute*	Velocity, Acceleration, Deceleration, Jerk
MoveLinearRelative*	Velocity, Acceleration, Deceleration, Jerk
MoveLinearAdditive*	Velocity, Acceleration, Deceleration, Jerk
MoveCircularAbsolute*	Velocity, Acceleration, Deceleration, Jerk
MoveCircularRelative*	Velocity, Acceleration, Deceleration, Jerk
MoveCircularAdditive*	Velocity, Acceleration, Deceleration, Jerk
MoveHelicalAbsolute*	Velocity, Acceleration, Deceleration, Jerk
MoveHelicalRelative*	Velocity, Acceleration, Deceleration, Jerk
MoveHelicalAdditive*	Velocity, Acceleration, Deceleration, Jerk
StopGroup*	Deceleration, Jerk

* Starting from KINGSTAR 4.5, UpdateCommand supports group motion functions and their parameters listed on the table.

Example

N/A

Requirements

	RT	Win32
Minimum supported version	4.0	4.0
Header	ksmotion.h	ksmotion.h
Library	KsApi_Rtss.lib	KsApi.lib