IMotion.UpdateCommand 方法

更新命令的运动参数。

命名空间：IntervalZero.KINGSTAR.Base.Api

组合： IntervalZero.KINGSTAR.Base.Api (于 IntervalZero.KINGSTAR.Base.dll) 版本：4.4.0.0

语法

C#VB

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

Function UpdateCommand(
       Position As Double,
       Velocity As Double,
       EndVelocity As Double,
       Acceleration As Double,
       Deceleration As Double,
       Jerk As Double,
       Status As KsCommandStatus
) As KsCommandStatus

参数

Position

型别：double

运动的命令位置。[单位]（正或负值）

Velocity

型别：double

最大速度值。[单位/秒]

EndVelocity

型别：double

结束速度值，有符号值。[单位/秒]

Acceleration

型别：double

加速度值，永远为正值，单位由 McProfileType 决定（增加马达电量）。[单位/秒²] 或 [秒]

Deceleration

型别：double

减速度值。永远为正值，单位由 McProfileType 决定（减少马达电量）。[单位/秒²] 或 [秒]

Jerk

型别：double

加加速度值，永远为正值，单位由 McProfileType 决定。[单位/秒³] 或 [秒]

Status

型别：KsCommandStatus

从运动命令回传的 KsCommandStatus 类别。

回传值

型别：KsCommandStatus

回传 KsCommandStatus 类别。

备注

当模数轴启用时，模数值会套用至 MoveAxisAbsolute 与 MoveAxisContinuousAbsolute 的目标位置。目标位置更新后，MoveAxisAbsolute 与 MoveAxisContinuousAbsolute 会依据所设的 Direction 重新计算距离。
下表为可与 UpdateCommand 一起使用的函式及参数：

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

* 自 KINGSTAR 4.5 开始，UpdateCommand 支援轴组运动的相关 API 及表格所列的参数。

范例

N/A

参见

IMotion 介面

IntervalZero.KINGSTAR.Base.Api 命名空间