MoveCircularAbsolute

Commands an interpolated circular movement on an axis group from the current position of the tool center point. The end point and the auxiliary point (the meaning of both points depends on the CircMode mode you select) are defined absolutely in the specified coordinate system.

Syntax

KsCommandStatus MoveCircularAbsolute(
     int Index,
     McCircMode CircMode,
     int Length,
     double* AuxPoint,
     double* EndPoint,
     McCircPathChoice PathChoice,
     double Velocity,
     double Acceleration,
     double Deceleration,
     double Jerk,
     McCoordSystem CoordSystem,
     McBufferMode BufferMode,
     McTransitionMode TransitionMode,
     double* TransitionParameter
);

Parameters

Index [in]: the index of an axis group. Indexes are zero based. Aliases affect this parameter. You can have up to 32 groups.

CircMode [in]: specifies the meaning of the input signal AuxPoint. See the McCircMode type.

Length [in]: the length of the AuxPoint and EndPoint arrays.

AuxPoint [in]: the array [1..N] of absolute positions for each dimension in the specified coordinate system. N is 64.

EndPoint [in]: the array [1..N] of absolute positions for each dimension in the specified coordinate system. N is 64.

PathChoice [in]: the choice of path. See the McCircPathChoice type.

Velocity [in]: the maximum velocity of the path for the coordinate system in which the path is defined. Always positive. Not necessarily reached. [unit/second]

Acceleration [in]: the maximum acceleration. Always positive. Not necessarily reached. The unit is determined by the McProfileType type. [unit/second²] or [second]

Deceleration [in]: the maximum deceleration. Always positive. Not necessarily reached. The unit is determined by the McProfileType type. [unit/second²] or [second]

Jerk [in]: the maximum jerk. Always positive. Not necessarily reached. The unit is determined by the McProfileType type. [unit/second³] or [second]

CoordSystem [in]: a coordinate system. See the McCoordSystem type.

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

TransitionMode [in]: inserts a transition curve. See the McTransitionMode type.

TransitionParameter [in]: the additional parameter for the transition mode. If TransitionMode is set to mcNone, this parameter has no effect.

Return value

Returns the KsCommandStatus structure.

Remarks

For more information about how absolute, relative, and additive work, see Concepts > Motion.
For more information about how the axes move in the McCircMode mode, see Concepts > McCircMode.
For more information about how the blending modes work, see Concepts > Blend movements.

Example

N/A

Requirements

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