Difference between revisions of "MC-Basic:MOVESKD"
| Line 18: | Line 18: | ||
|SCOPE= | |SCOPE= | ||
|LIMITATIONS= | |LIMITATIONS= | ||
| − | Works with Trapeze-Acceleration profile only! ([[Axystems:MC-Basic:group.PROFILERTYPE|PrfType]] = 2). | + | * Works with Trapeze-Acceleration profile only! ([[Axystems:MC-Basic:group.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} | ||
Revision as of 12:07, 19 September 2012
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}