JogGroup
Commands a never-ending controlled motion at a specified velocity for an axis group.
Syntax
KsCommandStatus JogGroup(
int Index,
int Length,
double* Velocity,
double Acceleration,
double Deceleration,
double Jerk,
McCoordSystem CoordSystem
);
Parameters
Index [in]: the index of an axis group. Indexes are zero based. Aliases affect this parameter. You can have up to 32 groups.
Length [in]: the length of the Velocity array.
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]
CoordSystem [in]: a coordinate system. See the McCoordSystem type.
Return value
Returns the KsCommandStatus structure.
Remarks
- Because JogGroup keeps controlling the axis, it triggers an error if a limit is reached.
- The Velocity, Acceleration, Deceleration and Jerk are for each axis in the group, not for the path values. If one of these parameters' values, for example, Acceleration, exceeds the maximum Acceleration of one of the axes in the group, the axis will use its own max Acceleration value. Other axes use the provided values.
- Velocity can be modified when the axis group is running.
- JogGroup can be used only in the GroupStandstill state.
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