UpdateCommand

更新命令的運動參數。

語法

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

參數

Position：運動的命令位置，[單位]（正或負值）。

Velocity：最大速度值，[單位/秒]。

EndVelocity：結束速度值，有符號值，[單位/秒]。

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

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

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

Status：當命令啟動時會回傳 KsCommandStatus 結構。

回傳值

回傳 KsCommandStatus 結構。

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：

函式	參數
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 開始，UpdateCommand 支援軸組運動的相關函式及表格所列的參數。

範例

N/A

使用需求

	RT	Win32
最低支援版本	4.0	4.0
標頭檔	ksmotion.h	ksmotion.h
程式庫	KsApi_Rtss.lib	KsApi.lib

參見

MoveAxisContinuousAbsolute

MoveAxisContinuousRelative