Motion.UpdateCommand 方法

更新命令的運動參數。

命名空間：IntervalZero.KINGSTAR.Local.Api

組合： IntervalZero.KINGSTAR.Local.Api (於 IntervalZero.KINGSTAR.Local.dll) 版本：4.4.0.0

語法

C#VB

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

Public 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

參數

Position

型別：double

運動的命令位置。[單位]（正或負值）

Velocity

型別：double

最大速度值。[單位/秒]

EndVelocity

型別：double

結束速度值，有符號值。[單位/秒]

Acceleration

型別：double

加速度值，永遠為正值，單位由 McProfileType 決定（增加馬達電量）。[單位/秒²] 或 [秒]

Deceleration

型別：double

減速度值。永遠為正值，單位由 McProfileType 決定（減少馬達電量）。[單位/秒²] 或 [秒]

Jerk

型別：double

加加速度值，永遠為正值，單位由 McProfileType 決定。[單位/秒³] 或 [秒]

Status

型別：KsCommandStatus

從運動命令回傳的 KsCommandStatus 類別。

回傳值

型別：KsCommandStatus

回傳 KsCommandStatus 類別。

備註

當模數軸啟用時，模數值會套用至 MoveAxisAbsolute 與 MoveAxisContinuousAbsolute 的目標位置。目標位置更新後，MoveAxisAbsolute 與 MoveAxisContinuousAbsolute 會依據所設的 Direction 重新計算距離。
下表為可與 UpdateCommand 一起使用的函式及參數：

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

* 自 KINGSTAR 4.5 開始，UpdateCommand 支援軸組運動的相關 API 及表格所列的參數。

範例

N/A

參見

Motion 類別

IntervalZero.KINGSTAR.Local.Api 命名空間