Difference between revisions of "MC-Basic:MOVESKD"
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{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= | |SHORT FORM= | ||
|SYNTAX= MOVESKD {<robot>} <target point> {Optional Nodal properties} | |SYNTAX= MOVESKD {<robot>} <target point> {Optional Nodal properties} | ||
| − | |AVAILABILITY= from 4.9. | + | |AVAILABILITY= from 4.9.10 |
|DESCRIPTION= | |DESCRIPTION= | ||
Kino-Dynamic Straight Line move command. Straight line moment that uses maximum available joint capabilities (VNAX,AMAX,JMAX).The path is a straight line from current position to the given target position. | Kino-Dynamic Straight Line move command. Straight line moment that uses maximum available joint capabilities (VNAX,AMAX,JMAX).The path is a straight line from current position to the given target position. | ||
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* Not available on all robot modes! | * Not available on all robot modes! | ||
* No constant cartesian velocity phase. | * No constant cartesian velocity phase. | ||
| − | * Cartesian motion parameters: [[ | + | * Cartesian motion parameters: [[MC-Basic:robot.VELOCITYMAXTRANS|Vmtran]], [[MC-Basic:robot.VELOCITYTRANS|Vtran]], [[MC-Basic:robot.VELOCITYMAXROT|Vmrot]], [[MC-Basic:robot.VELOCITYROT|Vrot]], Amtran, Atran, [[MC-Basic:robot.ACCELERATIONMAXTRANS|Amrot]], Arot, Dtran, Drot, [[MC-Basic:robot.JERKMAXTRANS|Jmtran]], [[MC-Basic:robot.JERKTRANS|Jtran]], [[MC-Basic:robot.JERKMAXROT|Jmrot]], [[MC-Basic:robot.JERKROT|Jrot]] '''DO NOT INFLUENCE''' the movement. |
* Only Vrate, Arate and Jrate values (of axes, robot and system) can influence the movement. | * Only Vrate, Arate and Jrate values (of axes, robot and system) can influence the movement. | ||
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|SCOPE= | |SCOPE= | ||
|LIMITATIONS= | |LIMITATIONS= | ||
| − | Works with Trapeze-Acceleration profile only! ([[ | + | * Works with Trapeze-Acceleration profile only! ([[MC-Basic:element.PROFILERTYPE|PrfType]] = 2). |
| + | * Implemented on '''Speed-Picker'''(Traverse Arm) and '''SCARA''' robot models only. | ||
| + | * Does not support '''CP Blending mode''' (BlendingMethod = 1). | ||
|EXAMPLE= | |EXAMPLE= | ||
MOVESKD Picker1 #{0,300,0,0} | MOVESKD Picker1 #{0,300,0,0} | ||
|SEE ALSO= | |SEE ALSO= | ||
| + | * [[File:AXY;Kino-Dynamic Interpolation ver 0.pdf |Kino-Dynamic Interpolation]] | ||
| + | * [[http://en.wikipedia.org/wiki/Kinodynamic_planning Kinodynamic_planning]] | ||
}} | }} | ||
Latest revision as of 12:13, 13 September 2017
Kino-Dynamic Straight Line move command. Straight line moment that uses maximum available joint capabilities (VNAX,AMAX,JMAX).The path is a straight line from current position to the given target position.
- Syntax is similar to MOVES command
- Not available on all robot modes!
- No constant cartesian velocity phase.
- Cartesian motion parameters: Vmtran, Vtran, Vmrot, Vrot, Amtran, Atran, Amrot, Arot, Dtran, Drot, Jmtran, Jtran, Jmrot, Jrot DO NOT INFLUENCE the movement.
- Only Vrate, Arate and Jrate values (of axes, robot and system) can influence the movement.
Syntax
MOVESKD {<robot>} <target point> {Optional Nodal properties}
Availability
from 4.9.10
Limitations
- Works with Trapeze-Acceleration profile only! (PrfType = 2).
- Implemented on Speed-Picker(Traverse Arm) and SCARA robot models only.
- Does not support CP Blending mode (BlendingMethod = 1).
Examples
MOVESKD Picker1 #{0,300,0,0}