Difference between revisions of "Motion Commands Reference List"
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* [[MC-Basic:TORQUE| TORQUE ]] | * [[MC-Basic:TORQUE| TORQUE ]] | ||
* [[MC-Basic:UNCONFIGGROUP| UNCONFIGGROUP ]] | * [[MC-Basic:UNCONFIGGROUP| UNCONFIGGROUP ]] | ||
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*[[MC-Basic:axis.COUNTTORQUEFEEDBACK|COUNTTORQUEFEEDBACK]] | *[[MC-Basic:axis.COUNTTORQUEFEEDBACK|COUNTTORQUEFEEDBACK]] | ||
*[[MC-Basic:element.CP|CP]] | *[[MC-Basic:element.CP|CP]] | ||
| + | *[[MC-Basic:axis.CUMULATIVEPOSITION|CUMULATIVEPOSITION]] | ||
*[[MC-Basic:element.CURRENTABSOLUTE|CURRENTABSOLUTE]] | *[[MC-Basic:element.CURRENTABSOLUTE|CURRENTABSOLUTE]] | ||
*[[MC-Basic:element.CURRENTTIME|CURRENTTIME]] | *[[MC-Basic:element.CURRENTTIME|CURRENTTIME]] | ||
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*[[MC-Basic:axis.FIRSTCAM.NAME|FIRSTCAM.NAME]] | *[[MC-Basic:axis.FIRSTCAM.NAME|FIRSTCAM.NAME]] | ||
*[[MC-Basic:axis.FOLLOWINGMODE|FOLLOWINGMODE]] | *[[MC-Basic:axis.FOLLOWINGMODE|FOLLOWINGMODE]] | ||
| + | *[[MC-Basic:axis.GEARINERTIA|GEARINERTIA]] | ||
*[[MC-Basic:axis.GEARRATIO|GEARRATIO]] | *[[MC-Basic:axis.GEARRATIO|GEARRATIO]] | ||
*[[MC-Basic:axis.GEARVALUE|GEARVALUE]] | *[[MC-Basic:axis.GEARVALUE|GEARVALUE]] | ||
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*[[MC-Basic:axis.HOMETYPE|HOMETYPE]] | *[[MC-Basic:axis.HOMETYPE|HOMETYPE]] | ||
*[[MC-Basic:axis.HOMEVELOCITY|HOMEVELOCITY]] | *[[MC-Basic:axis.HOMEVELOCITY|HOMEVELOCITY]] | ||
| + | *[[MC-Basic:axis.ICMD|ICMD]] | ||
| + | *[[MC-Basic:axis.IFAC|IFAC]] | ||
| + | *[[MC-Basic:axis.IFBK|IFBK]] | ||
*[[MC-Basic:axis.IN1|IN1]] | *[[MC-Basic:axis.IN1|IN1]] | ||
*[[MC-Basic:axis.IN1MODE|IN1MODE]] | *[[MC-Basic:axis.IN1MODE|IN1MODE]] | ||
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*[[MC-Basic:axis.RTSB1_MODE|RTSB1 MODE]] | *[[MC-Basic:axis.RTSB1_MODE|RTSB1 MODE]] | ||
*[[MC-Basic:axis.RTSB2_MODE|RTSB2 MODE]] | *[[MC-Basic:axis.RTSB2_MODE|RTSB2 MODE]] | ||
| + | *[[MC-Basic:axis.RUNNINGTIME|RUNNINGTIME]] | ||
*[[MC-Basic:axis.SIMULATED|SIMULATED]] | *[[MC-Basic:axis.SIMULATED|SIMULATED]] | ||
*[[MC-Basic:element.SineWaveFreq|SineWaveFreq]] | *[[MC-Basic:element.SineWaveFreq|SineWaveFreq]] | ||
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*[[MC-Basic:element.TIMESETTLE|TIMESETTLE]] | *[[MC-Basic:element.TIMESETTLE|TIMESETTLE]] | ||
*[[MC-Basic:element.TIMESETTLEMAX|TIMESETTLEMAX]] | *[[MC-Basic:element.TIMESETTLEMAX|TIMESETTLEMAX]] | ||
| + | *[[MC-Basic:element.TORQUEGEARCOMMAND|TORQUEGEARCOMMAND]] | ||
| + | *[[MC-Basic:element.TORQUEGEARFEEDBACK|TORQUEGEARFEEDBACK]] | ||
*[[MC-Basic:axis.TORQUEADDCOMMAND|TORQUEADDCOMMAND]] | *[[MC-Basic:axis.TORQUEADDCOMMAND|TORQUEADDCOMMAND]] | ||
*[[MC-Basic:axis.TORQUECHANGERATIO|TORQUECHANGERATIO]] | *[[MC-Basic:axis.TORQUECHANGERATIO|TORQUECHANGERATIO]] | ||
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*[[MC-Basic:axis.VISCOUSFRICTION|VISCOUSFRICTION]] | *[[MC-Basic:axis.VISCOUSFRICTION|VISCOUSFRICTION]] | ||
*[[MC-Basic:axis.WRAP|WRAP]] | *[[MC-Basic:axis.WRAP|WRAP]] | ||
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== Group Properties == | == Group Properties == | ||
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*[[MC-Basic:element.TIMESETTLE|TIMESETTLE]] | *[[MC-Basic:element.TIMESETTLE|TIMESETTLE]] | ||
*[[MC-Basic:element.TIMESETTLEMAX|TIMESETTLEMAX]] | *[[MC-Basic:element.TIMESETTLEMAX|TIMESETTLEMAX]] | ||
| + | *[[MC-Basic:element.TORQUEGEARCOMMAND|TORQUEGEARCOMMAND]] | ||
| + | *[[MC-Basic:element.TORQUEGEARFEEDBACK|TORQUEGEARFEEDBACK]] | ||
*[[MC-Basic:element.TORQUECOMMAND|TORQUECOMMAND]] | *[[MC-Basic:element.TORQUECOMMAND|TORQUECOMMAND]] | ||
*[[MC-Basic:element.TORQUEFEEDBACK|TORQUEFEEDBACK]] | *[[MC-Basic:element.TORQUEFEEDBACK|TORQUEFEEDBACK]] | ||
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*[[MC-Basic:element.VELOCITYOVERRIDE|VELOCITYOVERRIDE]] | *[[MC-Basic:element.VELOCITYOVERRIDE|VELOCITYOVERRIDE]] | ||
*[[MC-Basic:element.VELOCITYRATE|VELOCITYRATE]] | *[[MC-Basic:element.VELOCITYRATE|VELOCITYRATE]] | ||
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*[[MC-Basic:robot.STRETCHVECTOR|STRETCHVECTOR]] | *[[MC-Basic:robot.STRETCHVECTOR|STRETCHVECTOR]] | ||
*[[MC-Basic:robot.TOOL|TOOL]] | *[[MC-Basic:robot.TOOL|TOOL]] | ||
| + | *[[MC-Basic:element.TORQUEGEARCOMMAND|TORQUEGEARCOMMAND]] | ||
| + | *[[MC-Basic:element.TORQUEGEARFEEDBACK|TORQUEGEARFEEDBACK]] | ||
*[[MC-Basic:robot.TYPEOF|TYPEOF]] | *[[MC-Basic:robot.TYPEOF|TYPEOF]] | ||
*[[MC-Basic:robot.USERPARAMETER|USERPARAMETER]] | *[[MC-Basic:robot.USERPARAMETER|USERPARAMETER]] | ||
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*[[MC-Basic:robot.VELOCITYSYNCTRAN|VELOCITYSYNCTRAN]] | *[[MC-Basic:robot.VELOCITYSYNCTRAN|VELOCITYSYNCTRAN]] | ||
*[[MC-Basic:robot.VELOCITYTRANS|VELOCITYTRANS]] | *[[MC-Basic:robot.VELOCITYTRANS|VELOCITYTRANS]] | ||
| + | *[[MC-Basic:robot.VELOCITYTRANSFEEDBACKVALUE|VELOCITYTRANSFEEDBACKVALUE]] | ||
*[[MC-Basic:robot.WORKPIECE|WORKPIECE]] | *[[MC-Basic:robot.WORKPIECE|WORKPIECE]] | ||
*[[MC-Basic:robot.WRISTCMD|WRISTCMD]] | *[[MC-Basic:robot.WRISTCMD|WRISTCMD]] | ||
Latest revision as of 10:59, 1 June 2020
Contents
Motion Commands
- ATTACH
- CHECKCAMMONOTONIC
- MOVE
- MOVES
- MOVESKD
- CIRCLE
- DELAY
- CONFIGGROUP
- CREATECAMDATA
- CREATECOMP
- CREATEPLSDATA
- DELETECAM
- DELETEGROUP
- DELETEMOVINGFRAME
- DELETEPLS
- DOPASS
- JOG
- LOADCAMDATA
- STORECAMDATA
- LOADCOMPDATA
- LOADCOMPDATA$
- NEXTITEM
- NOOFCOORDINATES
- PASS
- PROCEED
- STOP
- SYNCALL
- SYNCCLEAR
- SYNCSTART
- TOCART
- TOJOINT
- TORQUE
- UNCONFIGGROUP
Axis Properties
- ABSENABLE
- ABSOLUTE
- ACCELERATION
- ACCELERATIONCOMMAND
- ACCELERATIONERROR
- ACCELERATIONFACTOR
- ACCELERATIONFEEDBACK
- ACCELERATIONMAX
- ACCELERATIONRATE
- ACTIVECAM
- ALTERNATIVECAM
- ALTERNATIVECAM.NAME
- ALTERNATIVEOFFSET
- ATTACHEDTO
- AXISNAME
- AXISTYPE
- BLENDINGFACTOR
- BLENDINGFACTORPREVIOUS
- BLENDINGMETHOD
- BLENDINGSTARTCONDITION
- BLENDPROTECTED
- CAMCYCLE
- CAMINDEX
- CAMOFFSET
- CAMVALUE
- CAPTURE
- CAPTUREINPUT
- CAPTUREPOLARITY
- CAPTUREPOSITION
- CAPTURESOURCE
- COMPENSATIONSOURCE
- COMPPOSITIONCOMMAND
- COMPPOSITIONFEEDBACK
- COULOMBFRICTION
- COUNTCOMMAND
- COUNTEXTERNAL
- CountExtMax
- CountExtMin
- CountExtRollOver
- COUNTFEEDBACK
- CountMax
- CountMin
- CountRollOver
- COUNTTORQUEADDITIVECOMMAND
- COUNTTORQUECOMMAND
- COUNTTORQUEDRIVECOMMAND
- COUNTTORQUEFEEDBACK
- CP
- CUMULATIVEPOSITION
- CURRENTABSOLUTE
- CURRENTTIME
- DECELERATION
- DECELERATIONMAX
- DECELERATIONRATE
- DECELERATIONSTOP
- DIRECTION
- DIRECTIONEXTERNAL
- DISABLETIMEOUT
- DISPLACEMENT
- DOUBLEMODE
- DRIVEADDRESS
- DRIVECONTROL
- DRIVEENABLE
- DRIVEON
- DRIVEOPMODE
- DRIVESTATUS
- DYNAMICMODEL
- DYNAMICPARAMETER
- ELEMENTID
- ELEMENTNAME
- ELEMENTSIZE
- ENABLE
- FASTDATAENABLE
- FEEDBACK
- FIRSTCAM
- FIRSTCAM.NAME
- FOLLOWINGMODE
- GEARINERTIA
- GEARRATIO
- GEARVALUE
- HALTRESTART
- HOLDTYPE
- HOMEACCELERATION
- HOMEDIRECTION
- HOMEDISTANCE
- HOMEDISTANCEMAX
- HOMEOFFSET
- HOMEPOLARITY
- HOMERETURN
- HOMESTATUS
- HOMETYPE
- HOMEVELOCITY
- ICMD
- IFAC
- IFBK
- IN1
- IN1MODE
- IN2
- IN2MODE
- IN3
- IN3MODE
- INTERPOLATIONTYPE
- ISMOVING
- ISSETTLED
- ISSWAPED
- JERK
- JERKACCELERATIONPERCENTAGE
- JERKFACTOR
- JERKMAX
- JERKRATE
- MASTERSOURCE
- MasterSource.Name
- MASTERSYNC
- MAXOFFSET
- ModelOffset
- MOTION
- MOTIONBUSVELOCITYBASE
- MOTIONBUSVELOCITYSCALE
- MOTIONSTATUS
- OPMODE
- OPMODEMAP
- PAYLOADINERTIA
- PAYLOADMASS
- PLSSOURCE
- PositionBacklash
- PositionBacklashAlpha
- POSITIONCOMMAND
- POSITIONCOMMANDHISTORY
- POSITIONERROR
- POSITIONERRORDELAY
- POSITIONERRORMAX
- POSITIONERRORSETTLE
- POSITIONEXTERNAL
- POSITIONEXTERNALFACTOR
- POSITIONEXTROLLOVER
- POSITIONEXTROLLOVERENABLE
- POSITIONEXTROLLOVERMIN
- POSITIONFACTOR
- POSITIONFEEDBACK
- POSITIONFINAL
- POSITIONMAX
- POSITIONMAXENABLE
- POSITIONMIN
- POSITIONMINENABLE
- POSITIONROLLOVER
- POSITIONROLLOVERENABLE
- POSITIONROLLOVERMIN
- POSITIONTOGO
- PROCEEDTYPE
- PROFILERTYPE
- REALTIMECONTROLBIT
- REALTIMESTATUSBIT
- RESCUEMODE
- RTCB1
- RTCB1 MODE
- RTCB2
- RTCB2 MODE
- RTSB1 MODE
- RTSB2 MODE
- RUNNINGTIME
- SIMULATED
- SineWaveFreq
- SLAVE
- SLAVEDEVIATION
- SLAVEDISABLE
- SLAVEDISCONNECT
- SLAVELAG
- SLAVEMAXDEVIATION
- SMOOTHFACTOR
- STARTTYPE
- STOPTYPE
- SUMTORQUE
- TIMEACCELERATION
- TIMEACCMIN
- TIMEDECELERATION
- TIMEDECMIN
- TIMEJOG
- TIMEOFSHORTMOTIONS
- TIMESETTLE
- TIMESETTLEMAX
- TORQUEGEARCOMMAND
- TORQUEGEARFEEDBACK
- TORQUEADDCOMMAND
- TORQUECHANGERATIO
- TORQUECHANGERATIOMAX
- TORQUECOMMAND
- TORQUEDRIVECOMMAND
- TORQUEERROR
- TORQUEERRORDISABLETYPE
- TORQUEERRORENABLE
- TORQUEERRORFILTER
- TORQUEERRORMAX
- TORQUEERRORSTOPTYPE
- TORQUEFACTOR
- TORQUEFEEDBACK
- TorqueLimit
- TorqueLimitVelocityMax
- TorqueMax
- TOTALTIME
- UserFollowingMode
- VELOCITYADDITIVECOMMAND
- VELOCITYCOMMAND
- VELOCITYCRUISE
- VELOCITYERROR
- VELOCITYEXTERNAL
- VELOCITYEXTERNALFACTOR
- VELOCITYFACTOR
- VELOCITYFEEDBACK
- VELOCITYFINAL
- VELOCITYJOG
- VelocityLimitTorqueMax
- VELOCITYMAX
- VELOCITYOVERRIDE
- VELOCITYOVERSPEED
- VELOCITYRATE
- VELOCITYSAFETYLIMIT
- VISCOUSFRICTION
- WRAP
Group Properties
- ABSENABLE
- ABSOLUTE
- ACCELERATION
- ACCELERATIONERROR
- ACCELERATIONFACTOR
- ACCELERATIONFEEDBACK
- ACCELERATIONMAX
- ACCELERATIONRATE
- ACCELRATIONCOMMAND
- ANGLE
- ATTACHEDTO
- BLENDINGFACTOR
- BLENDINGFACTORPREVIOUS
- BLENDINGMETHOD
- BLENDINGSTARTCONDITION
- BLENDPROTECTED
- CIRCLECENTER
- CIRCLEPOINT
- CIRCLETYPE
- COUPLED
- CP
- CPLG
- CPPREV
- CURRENTABSOLUTE
- CURRENTTIME
- DECELERATION
- DECELERATIONMAX
- DECELERATIONRATE
- DECELERATIONSTOP
- DEST
- DEST JOINT
- DESTANGLE
- DESTCENTER
- DESTCIRCLEPOINT
- DOMINANCEMODE
- DOUBLEMODE
- DYNAMICMODEL
- ELEMENTID
- ELEMENTNAME
- ELEMENTSIZE
- ENABLE
- INTERPOLATIONTYPE
- ISMOVING
- ISSETTLED
- JERK
- JERKACCELERATIONPERCENTAGE
- JERKDECELERATIONPERCENTAGE
- JERKFACTOR
- JERKMAX
- JERKRATE
- MOTION
- PLSSOURCE
- POSITIONCOMMAND
- POSITIONCOMMANDHISTORY
- POSITIONERROR
- POSITIONERRORDELAY
- POSITIONERRORMAX
- POSITIONERRORSETTLE
- POSITIONFEEDBACK
- POSITIONFINAL
- POSITIONTOGO
- PROCEEDTYPE
- PROFILERTYPE
- RESCUEMODE
- SELECTAXES
- SineWaveFreq
- SMOOTHFACTOR
- STARTTYPE
- STOPTYPE
- STRETCHFACTOR
- STRETCHVECTOR
- THROUGH
- TIMEACCELERATION
- TIMEACCMIN
- TIMEDECELERATION
- TIMEDECMIN
- TIMESETTLE
- TIMESETTLEMAX
- TORQUEGEARCOMMAND
- TORQUEGEARFEEDBACK
- TORQUECOMMAND
- TORQUEFEEDBACK
- TOTALTIME
- UPTO
- VELOCITYCOMMAND
- VELOCITYCRUISE
- VELOCITYERROR
- VELOCITYSCALE
- ASCALE
- VELOCITYFACTOR
- VELOCITYFEEDBACK
- VELOCITYFINAL
- VELOCITYMAX
- VELOCITYOVERRIDE
- VELOCITYRATE
Robot Properties
- ACCELCMDCART
- ACCELERATIONERROR
- ACCELERATIONDESYNCROT
- ACCELERATIONDESYNCTRAN
- ACCELERATIONMAXROT
- ACCELERATIONMAXTRANS
- ACCELERATIONROT
- ACCELERATIONSYNCROT
- ACCELERATIONSYNCTRAN
- ACCELERATIONTRANS
- ARMCMD
- ARMFBK
- AXIS
- BASE
- DECELERATIONROT
- DECELERATIONSTOPROT
- DECELERATIONSTOPTRANS
- DECELERATIONTRANS
- DYNAMICPARAMETER
- ELBOWCMD
- ELBOWFBK
- GOTOLIMIT
- GLOBALBASE
- GLOBALHERE
- GLOBALSETPOINT
- HERE
- INERTIAREDUCTION
- INERTIATHRESHOLD
- ISMOVINGFRAMESYNCHRONIZED
- JERKDESYNCROT
- JERKDESYNCTRAN
- JERKMAXROT
- JERKMAXTRANS
- JERKROT
- JERKSYNCROT
- JERKSYNCTRAN
- JERKTRANS
- JOINTENABLE
- LINK
- MACHINETABLE
- MASTERFRAME
- MASTERFRAMENAME
- MODELENABLE
- NUMBEROFITEMS
- ORIENTATIONCOMPLEMENT
- ORIENTATIONERROR
- ORIENTATIONERRORSETTLE
- ORIENTATIONFOLLOWING
- PAYLOADINERTIA
- PAYLOADMASS
- Persistent
- POSITIONERROR
- RMAX
- RMIN
- SETPOINT
- SINGULARITYMARGIN
- SLAVE
- START
- START JOINT
- STRETCHFACTOR
- STRETCHVECTOR
- TOOL
- TORQUEGEARCOMMAND
- TORQUEGEARFEEDBACK
- TYPEOF
- USERPARAMETER
- USERPARAMETERVECTOR
- VELOCITYCOMMANDCARTESIAN
- VELOCITYDESYNCROT
- VELOCITYDESYNCTRAN
- VELOCITYERROR
- VELOCITYFEEDBACKCARTESIAN
- VELOCITYFINALROT
- VELOCITYFINALTRANS
- VELOCITYMAXROT
- VELOCITYMAXTRANS
- VELOCITYROT
- VELOCITYSYNCROT
- VELOCITYSYNCTRAN
- VELOCITYTRANS
- VELOCITYTRANSFEEDBACKVALUE
- WORKPIECE
- WRISTCMD
- WRISTFBK
- XMAX
- XMIN
- YMAX
- YMIN
- ZMAX
- ZMIN
- ROBOTTYPE
- ROBOTTYPE$
Advanced Interpolation
- DOPASS
- PASS
- PASSBACKWARD
- PASSBUFFERLEVEL
- PASSINTERPOLATION
- PASSMETHOD
- PASSROTMINGAP
- PASSSYMMETRICPATH
- PASSTHROUGHMAXDEVIATION
- PASSTRANMINGAP
- PASSUPTO
- CURRENTPASS
- PASSBUFFERLEVEL
- PASSBUFFERMIN
- PASSBUFFERMAX
- PASSBUFFERSIZE
- PASSBUFFERLOW
- STRETCHFACTOR
- STRETCHVECTOR
Payload Properties
- PAYLOADINERTIA
- PAYLOADMASS
- PAYLOADMASSRMASS
- PAYLOADMASSRMASSG
- PAYLOADMASSRMASSSQIXX
- PAYLOADMAX
- PAYLOADLX
- PAYLOADLY
- PAYLOADLZ
Camming
- cam.CYCLE
- cam.INUSE
- cam.ISMONOTONIC
- cam.MASTERDATA
- cam.SLAVEDATA
- cam.NEXT
- cam.NEXT.NAME
- cam.PREVIOUS
- cam.PREVIOUS.NAME
- cam.SIZE
- cam.CAMID
- cam.CAMTYPE
- cam.POLY
Compensation Tables
- CompensationSource.Name
- COMPSET
- compTable.COMPACTIVE
- compTable.MAXPOSITION
- compTable.MINPOSITION
- compTable.MULTIPLIER
- compTable.SOURCEDATA
- compTable.TARGETDATA
- compTable.DIRECTION
- compTable.CompID
Points
PLS (Programmable Limit Switch)
- pls.HWASSISTANCE
- pls.HWIOTIME
- pls.PLSAXISNAME
- pls.PLSEMENTNAME
- pls.PLSDELAYTIME
- pls.PLSENABLE
- pls.PLSHYSTERESIS
- pls.PLSOUTPUT
- pls.PLSPOLARITY
- pls.PLSPOSITION
- pls.PLSPROPAGATIONDELAY
- pls.PLSPROPAGATIONDISABLEDELAY
- pls.PLSPROPAGATIONENABLEDELAY
- pls.PLSRELATEDTO
- pls.PLSREPEAT
Element Properties
- PlcMotionStatusCreate
- PlcMotionStatusDestroy
- PlcMotionStatusQuery
- element.PlcMotionStatus
- element.PrecomputationMode
- element.RTKActive
Identification and Dynamic Model
Moving Frame (Conveyor Tracking)
- ACCELERATIONMAXROT
- ACCELERATIONMAXTRAN
- BASE
- DAMPINGFACTOR
- DOWNMASTER
- DOWNSTREAM
- ELEMENTNAME
- FILTERFACTOR
- HERE
- ISINWINDOW
- JERKMAXROT
- JERKMAXTRAN
- MASTERSOURCE
- MAXFLOPS
- MOVINGFRAMEID
- MOVINGFRAMENAME
- MOVINGFRAMESCALE
- NUMBERDEGREESOFFREADOM
- NUMBEROFITEMS
- OBJECTLOC
- OrientationTransformation
- SLAVEORIENTATION
- TOOL
- TranslationTransformation
- TYPE
- UPMASTER
- UPSTREAM
- VELOCITYMAXROT
- VELOCITYMAXTRANS
- ZERO