MoveDirectAbsolute

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.

Syntax

KsCommandStatus MoveDirectAbsolute(
     int Index,
     int Length,
     double* Position,
     double VelRatio,
     double AccRatio,
     double DecRatio,
     double JerkRatio,
     McCoordSystem CoordSystem,
     McBufferMode BufferMode,
     McTransitionMode TransitionMode,
     double* TransitionParameter
);

Parameters

Index [in]: the index of an axis group. Indexes are zero based. You can have up to 32 groups.

Length [in]: the length of the Position array.

Position [in]: the array [1..N] of absolute end positions for each dimension in the specified coordinate system. N is 64.

VelRatio [in]: 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]: 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]: 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]: 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]: a coordinate system. See the McCoordSystem type.

BufferMode [in]: defines the chronological sequence of the function. See the McBufferMode type.

TransitionMode [in]: inserts a transition curve. See the McTransitionMode type.

TransitionParameter [in]: the additional parameter for the transition mode. If TransitionMode is set to mcNone, this parameter has no effect.

Return value

Returns the KsCommandStatus structure.

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.

Example

N/A

Requirements

	RT	Win32
Minimum supported version	4.3	4.3
Header	ksmotion.h	ksmotion.h
Library	KsApi_Rtss.lib	KsApi.lib

See also

MoveDirectRelative