MoveAxisContinuousAbsolute

Commands a controlled motion to a specified absolute position ending with the specified velocity.

Syntax

KsCommandStatus MoveAxisContinuousAbsolute(
     int Index,
     double Position,
     double Velocity,
     double EndVelocity,
     double Acceleration,
     double Deceleration,
     double Jerk,
     McDirection Direction,
     McBufferMode BufferMode
);

Parameters

Index [in]: the index of an axis. Indexes are zero based. Aliases affect this parameter.

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

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

EndVelocity [in]: a value of the end velocity. Signed value. [second]

Acceleration [in]: a value of the acceleration. The unit is determined by the McProfileType type. [unit/second²] or [second]

Deceleration [in]: a value of the deceleration. The unit is determined by the McProfileType type. [unit/second²] or [second]

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

Direction [in]: the moving direction of an axis. See the McDirection type.

BufferMode [in]: defines how to blend the velocity of two functions. See the McBufferMode type.

Return value

Returns the KsCommandStatus structure.

Remarks

If the commanded position is reached and no new motion command is put into the buffer, the axis continues to run with the specified EndVelocity.
If EndVelocity is less than Velocity, the axis will use EndVelocity to run after the commanded position has been reached; if EndVelocity is greater than Velocity, the axis will use Velocity to run.
This function can be replaced by the combination of MoveAxisAbsolute and MoveAxisVelocity if BufferMode is implemented on these functions.
When modulo axis is enabled, the modulo value will be applied to the Position parameter and the axis will move according to the configured Direction.
For example, with a modulo value of 360, when Direction is set to:
- mcShortestWay / mcCurrentDirection: The axis takes the shortest distance to reach the target. If there is a tie, the axis will move in the positive direction to reach the target. For example, if the current position is 0 and the target position is 340, the axis will move -20 to reach the target position, and the final position will be 340.
- mcPositiveDirection: The axis moves in the positive direction to reach the target. For example, if the current position is 0 and the target position is -20, the axis will move 340 to reach the target position.
- mcNegativeDirection: The axis moves in the negative direction to reach the target. For example, if the current position is 0 and the target position is 20, the axis will move -340 to reach the target position, and the final position will be 20.

Example

N/A

Requirements

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