MoveAxisVelocity

Commands a never-ending controlled motion at a specified velocity.

Syntax

KsCommandStatus MoveAxisVelocity(
     int Index,
     double Velocity,
     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.

Velocity [in]: a value of the specified velocity. [unit/second]

Acceleration [in]: a value of the acceleration. The unit is determined by the McProfileType type. (increasing energy of the motor) [unit/second²] or [second]

Deceleration [in]: a value of the deceleration. The unit is determined by the McProfileType type. (decreasing energy of the motor) [unit/second²] or [second]

Jerk [in]: a value of the jerk. The unit is determined by the McProfileType type. [unit/second³] or [second]

Direction [in]: the moving direction of an axis. See the McDirection type. (mcShortestWay is not applicable)

BufferMode [in]: defines how to blend the velocity of two functions. See the McBufferMode type.

Return value

Returns the KsCommandStatus structure.

Remarks

When the axis has reached the specified velocity, this command is finished but the axis keeps moving.
For more information about how the blending modes work, see Concepts > Blend movements.

Example

VOID RecordPosition(INT Index, DOUBLE Velocity, McDirection Direction) {
   double PosRecord = 0;

   //Configure the probe
   McProbeTrigger ProbeTrigger = { 0 };
   ProbeTrigger.TouchProbeId = 0;
   ProbeTrigger.Software = FALSE;
   ProbeTrigger.IndexPulse = TRUE;
   ProbeTrigger.Edge = TRUE;
   ProbeTrigger.AxisSwitch = FALSE;
   ProbeTrigger.Index = 0;
   ProbeTrigger.Offset = 0;
   KsCommandStatus probe = SetAxisTouchProbe(Index, ProbeTrigger, FALSE, 0, 0, &PosRecord);

   //Start moving
   MoveAxisVelocity(Index, Velocity, 36000, 36000, 3600000, Direction, mcAborting);

   //Wait for the position to be recorded
   probe = WaitForCommand(30, TRUE, probe);

   RtPrintf("Recorded position: %d\n", (int)PosRecord);
   WaitForCommand(30, TRUE, HaltAxis(Index, 36000, 3600000, mcAborting));
}

Requirements

	RT	Win32
Minimum supported version	4.0	4.0
Header	ksmotion.h	ksmotion.h
Library	KsApi_Rtss.lib	KsApi.lib