MoveDirectRelative

Commands a movement of an axis group to a relative position without taking care of how (on which path) the target position is reached. The starting position is the actual position of the tool center point (TCP).

Syntax

KsCommandStatus MoveDirectRelative(
     int Index,
     int Length,
     double* Distance,
     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.

Distance [in]: the array [1..N] of relative distance 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 may 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

MoveDirectAbsolute