MoveAxisContinuousAbsolute
Commands a controlled motion to a specified absolute position ending with the specified velocity.
Syntax
KsCommandStatus MoveAxisContinuousAbsolute(
int Index,
double Position,
double Velocity,
double EndVelocity,
double Acceleration,
double Deceleration,
double Jerk,
McDirection Direction,
McBufferMode BufferMode
);
Parameters
Index [in]: the index of an axis. Indexes are zero based. Aliases affect this parameter.
Position [in]: the commanded position for the motion. [second] (negative or positive)
Velocity [in]: a value of the maximum velocity. [unit/second]
EndVelocity [in]: a value of the end velocity. Signed value. [second]
Acceleration [in]: a value of the acceleration. The unit is determined by McProfileType. [unit/second2] or [second]
Deceleration [in]: a value of the deceleration. The unit is determined by McProfileType. [unit/second2] or [second]
Jerk [in]: a value of the jerk. The unit is determined by McProfileType. [unit/second3] or [second]
Direction [in]: the moving direction of an axis. See McDirection.
BufferMode [in]: defines how to blend the velocity of two functions. See McBufferMode.
Return value
Returns the KsCommandStatus structure.
Remarks
- If the commanded position is reached and no new motion command is put into the buffer, the axis continues to run with the specified EndVelocity.
- If EndVelocity is less than Velocity, the axis will use EndVelocity to run after the commanded position has been reached; if EndVelocity is greater than Velocity, the axis will use Velocity to run.
- This function can be replaced by the combination of MoveAxisAbsolute and MoveAxisVelocity if BufferMode is implemented on these functions.
Example
N/A
Requirements
RT | Win32 | |
---|---|---|
Minimum supported version | 4.0 | 4.0 |
Header | ksmotion.h | ksmotion.h |
Library | KsApi_Rtss.lib | KsApi.lib |
See also