Difference between revisions of "MC-Basic:MOVE"
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|SYNTAX= | |SYNTAX= | ||
| − | Move '' | + | Move <''axis''> ?'"`UNIQ--nowiki-00000001-QINU`"'? <''group''> ''<final position value>'' ''{Optional Property}''* ''{VelocityFinal = <final velocity value>}'' |
|AVAILABILITY= | |AVAILABILITY= | ||
| Line 10: | Line 10: | ||
|DESCRIPTION= | |DESCRIPTION= | ||
| − | Executes point-to-point moves from current position to target position of a single axis or a group of axes. | + | Executes point-to-point moves from current position to target position of a single axis or a group of axes. |
| − | |||
| − | The permanent value is overriden for the duration of the MOVE. For axes, the ''<final position value>'' is a scalar value. For groups, the ''<final position value>'' is a vector, enclosed in braces { }. | + | When a group of axes are being moved, their motion is coordinated in space and time. This means that all axes will start and finish motion at same time. It also means their motion is proportional. all axes will reach same percentage of their motion at same time. |
| + | |||
| + | When using this command on robot groups it will make joint-interpolated move. If you want to make straight line motion you need to use [[MC-Basic:MOVES|MOVES]] command. | ||
| + | |||
| + | With groups, the velocity of each axis is set as if the axes composing the group are perpendicular to one another. | ||
| + | |||
| + | Sequential MOVE commands may be combined to yield a continuous motion using the [[MC-Basic:element.VELOCITYFINAL |VELOCITYFINAL]] property, but care must be taken that the subsequent moves continue the previous move in the same direction. | ||
| + | |||
| + | The MOVE command must specify the <''axis''> or <''group''> and the ''<final position value>''. | ||
| + | |||
| + | Other properties are optional and may be selected from the following list: [[MC-Basic:element.ABSOLUTE|ABSOLUTE]] , [[MC-Basic:element.VELOCITYCRUISE|VELOCITYCRUISE]] , [[MC-Basic:element.ACCELERATION|ACCELERATION]], [[MC-Basic:element.DECELERATION|DECELERATION]] , [[MC-Basic:element.JERK|JERK], VELOCITYCRUISESMOOTH]], [[MC-Basic:element.STARTTYPE|STARTTYPE]] , [[MC-Basic:element.VELOCITYRATE|VELOCITYRATE]] , [[MC-Basic:element.ACCELERATIONRATE|ACCELERATIONRATE]], [[MC-Basic:element.JERKRATE|JERKRATE]], [[MC-Basic:element.DECELERATIONRATE|DECELERATIONRATE]]. | ||
| + | |||
| + | |||
| + | These optional properties override the permanent values of the properties for the duration of the command. | ||
| + | When using an optional property, the keyword must be specified. | ||
| + | The properties are used in the following manner: | ||
| + | :''<Property>'' = <''value''> | ||
| + | The permanent value is overriden for the duration of the MOVE. | ||
| + | |||
| + | For axes, the ''<final position value>'' is a scalar value. | ||
| + | For groups, the ''<final position value>'' is a vector, enclosed in braces { }. | ||
|TYPE= | |TYPE= | ||
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|RANGE= | |RANGE= | ||
| − | ''<final position value>'': | + | ''<final position value>'': ± MaxDouble<br> |
Velocity and acceleration parameters are limited by the respective maximum values (specified by the user). | Velocity and acceleration parameters are limited by the respective maximum values (specified by the user). | ||
|UNITS= | |UNITS= | ||
| − | ''<final position value>'': user units, as given by POSITIONFACTOR. | + | * ''<final position value>'': user units, as given by POSITIONFACTOR. |
| − | + | * VELOCITYCRUISE and VELOCITYFINAL: user units, as given by VELOCITYFACTOR | |
| − | VELOCITYCRUISE and VELOCITYFINAL: user units, as given by VELOCITYFACTOR | + | * ACCELERATION: user units, as given by ACCELERATIONFACTOR |
| − | + | * DECELERATION: user units, as given by ACCELERATIONFACTOR | |
| − | ACCELERATION: user units, as given by ACCELERATIONFACTOR | + | * JERK: user units, as given by JERKFACTOR |
| − | + | * VELOCITYRATE, ACCELERATIONRATE, JERKRATE and DECELERATIONRATE: percents of the relevant scaled property units. | |
| − | DECELERATION: user units, as given by ACCELERATIONFACTOR | ||
| − | |||
| − | JERK: user units, as given by JERKFACTOR | ||
| − | |||
| − | VELOCITYRATE , ACCELERATIONRATE, JERKRATE and DECELERATIONRATE : | ||
|DEFAULT= | |DEFAULT= | ||
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|LIMITATIONS= | |LIMITATIONS= | ||
| − | A motion element may not be moved if it is attached by another task. | + | * A motion element may not be moved if it is attached by another task. |
| − | + | * An axis and a group containing that axis may not be moved simultaneously | |
| − | An axis and a group containing that axis may not be moved simultaneously | ||
|EXAMPLE= | |EXAMPLE= | ||
| − | + | ?'"`UNIQ--pre-00000002-QINU`"'? | |
| − | |||
| − | |||
|SEE ALSO= | |SEE ALSO= | ||
| − | * [[ | + | * [[MC-Basic:element.ABSOLUTE|axis.ABSOLUTE]] |
| − | * [[ | + | * [[MC-Basic:element.ACCELERATION|axis.ACCELERATION]] |
| − | * [[ | + | * [[MC-Basic:element.ACCELERATIONFACTOR|axis.ACCELERATIONFACTOR]] |
| − | * [[ | + | * [[MC-Basic:element.DECELERATION|axis.DECELERATION]] |
| − | * [[ | + | * [[MC-Basic:axis.POSITIONFACTOR|axis.POSITIONFACTOR]] |
| − | * [[ | + | * [[MC-Basic:element.SMOOTHFACTOR|axis.SMOOTHFACTOR]] |
| − | * [[ | + | * [[MC-Basic:element.STARTTYPE|axis.STARTTYPE]] |
| − | * [[ | + | * [[MC-Basic:element.VELOCITYCRUISE|axis.VELOCITYCRUISE]] |
| − | * [[ | + | * [[MC-Basic:element.VELOCITYFACTOR|axis.VELOCITYFACTOR]] |
| − | * [[ | + | * [[MC-Basic:element.ACCELERATIONRATE|axis.ACCELERATIONRATE]] |
| − | * [[ | + | * [[MC-Basic:element.JERKRATE|axis.JERKRATE]] |
| − | * [[ | + | * [[MC-Basic:element.DECELERATIONRATE|axis.DECELERATIONRATE]] |
| − | * [[ | + | * [[MC-Basic:element.VELOCITYRATE|axis.VELOCITYRATE]] |
| − | * [[ | + | * [[MC-Basic:element.VELOCITYFINAL|axis.VELOCITYFINAL]] |
}} | }} | ||
Latest revision as of 09:31, 19 December 2019
Executes point-to-point moves from current position to target position of a single axis or a group of axes.
When a group of axes are being moved, their motion is coordinated in space and time. This means that all axes will start and finish motion at same time. It also means their motion is proportional. all axes will reach same percentage of their motion at same time.
When using this command on robot groups it will make joint-interpolated move. If you want to make straight line motion you need to use MOVES command.
With groups, the velocity of each axis is set as if the axes composing the group are perpendicular to one another.
Sequential MOVE commands may be combined to yield a continuous motion using the VELOCITYFINAL property, but care must be taken that the subsequent moves continue the previous move in the same direction.
The MOVE command must specify the <axis> or <group> and the <final position value>.
Other properties are optional and may be selected from the following list: ABSOLUTE , VELOCITYCRUISE , ACCELERATION, DECELERATION , JERK], VELOCITYCRUISESMOOTH, STARTTYPE , VELOCITYRATE , ACCELERATIONRATE, JERKRATE, DECELERATIONRATE.
These optional properties override the permanent values of the properties for the duration of the command.
When using an optional property, the keyword must be specified.
The properties are used in the following manner:
- <Property> = <value>
The permanent value is overriden for the duration of the MOVE.
For axes, the <final position value> is a scalar value. For groups, the <final position value> is a vector, enclosed in braces { }.
Syntax
Move <axis> ?'"`UNIQ--nowiki-00000001-QINU`"'? <group> <final position value> {Optional Property}* {VelocityFinal = <final velocity value>}
Availability
All versions
Type
Double
Range
<final position value>: ± MaxDouble
Velocity and acceleration parameters are limited by the respective maximum values (specified by the user).
Units
- <final position value>: user units, as given by POSITIONFACTOR.
- VELOCITYCRUISE and VELOCITYFINAL: user units, as given by VELOCITYFACTOR
- ACCELERATION: user units, as given by ACCELERATIONFACTOR
- DECELERATION: user units, as given by ACCELERATIONFACTOR
- JERK: user units, as given by JERKFACTOR
- VELOCITYRATE, ACCELERATIONRATE, JERKRATE and DECELERATIONRATE: percents of the relevant scaled property units.
Default
By default, the permanent values of the element properties are used.
VELOCITYFINAL: 0
Scope
Task or Terminal
Limitations
- A motion element may not be moved if it is attached by another task.
- An axis and a group containing that axis may not be moved simultaneously
Examples
?'"`UNIQ--pre-00000002-QINU`"'?