UpdateCommand

更新命令的运动参数。

语法

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

参数

Position：运动的命令位置，[单位]（正或负值）。

Velocity：最大速度值，[单位/秒]。

EndVelocity：结束速度值，有符号值，[单位/秒]。

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

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

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

Status：当命令启动时会回传 KsCommandStatus 结构。

回传值

回传 KsCommandStatus 结构。

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：

函式	参数
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

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

范例

N/A

使用需求

	RT	Win32
最低支援版本	4.0	4.0
标头档	ksmotion.h	ksmotion.h
程式库	KsApi_Rtss.lib	KsApi.lib

参见

MoveAxisContinuousAbsolute

MoveAxisContinuousRelative