Difference between revisions of "MC-Basic:SineWave"
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| − | {{Languages|MC-Basic:SineWave}} | + | {{Languages|MC-Basic:SineWave}} |
{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= | |SHORT FORM= | ||
|SYNTAX= | |SYNTAX= | ||
| − | SineWave <''axis''>< | + | SineWave <''axis''>{{!}}<''group''> ''<Amplitude>'' {SineWaveFreq = ''<SWfreq>''} {Abs = <1{{!}}0>} |
|AVAILABILITY= | |AVAILABILITY= | ||
| Line 9: | Line 9: | ||
|DESCRIPTION= | |DESCRIPTION= | ||
| − | Performs endless sine-wave motion on the given axis or group. | + | Performs endless sine-wave motion on the given axis or group, between the start position and the given target position. |
The [[MC-Basic:STOP|Stop]] command is used to end the motion. | The [[MC-Basic:STOP|Stop]] command is used to end the motion. | ||
| − | + | For the default value Abs = 1, the target position is equal to ''<Amplitude>''. For Abs = 0, the target position is equal to the sum ''<Amplitude>''+StartPosition. | |
| − | The desired frequency is set by the [[#See_Also|SineWaveFreq]] property. | + | The desired frequency is set by the [[#See_Also|SineWaveFreq]] property. The default frequency is 1.0 Hz. |
The actually used frequency is limited by the maximal velocity, acceleration and jerk of each axis. | The actually used frequency is limited by the maximal velocity, acceleration and jerk of each axis. | ||
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|TYPE= | |TYPE= | ||
| − | ;''< | + | ;''<Amplitude>'' |
| + | : double for axes | ||
| + | : vector of double for groups | ||
| + | |||
| + | ;''<SineWaveFreq>'' | ||
: double for axes | : double for axes | ||
: vector of double for groups | : vector of double for groups | ||
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|EXAMPLE= | |EXAMPLE= | ||
| − | + | SineWave ax2 300 SineWaveFreq = 0.4<br> | |
| − | SineWave ax2 300 SineWaveFreq = 0.4 | + | ...<br> |
| − | ... | + | Stop ax2<br> |
| − | Stop ax2 | + | |
| − | < | + | SineWave grp2 {100, 75} SineWaveFreq = {0.3, 0.5}<br> |
| − | + | ...<br> | |
| − | SineWave grp2 {100, 75} SineWaveFreq = {0.3, 0.5} | + | Stop grp2<br> |
| − | ... | ||
| − | Stop grp2 | ||
| − | < | ||
Revision as of 12:38, 26 May 2020
| Language: | English • 中文（简体） |
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Performs endless sine-wave motion on the given axis or group, between the start position and the given target position. The Stop command is used to end the motion.
For the default value Abs = 1, the target position is equal to <Amplitude>. For Abs = 0, the target position is equal to the sum <Amplitude>+StartPosition.
The desired frequency is set by the SineWaveFreq property. The default frequency is 1.0 Hz. The actually used frequency is limited by the maximal velocity, acceleration and jerk of each axis.
Group motion is performed on axes level, e.g. no coupling is applied.
Syntax
SineWave <axis>|<group> <Amplitude> {SineWaveFreq = <SWfreq>} {Abs = <1|0>}
Availability
Since Version 4.9.6
Type
- <Amplitude>
- double for axes
- vector of double for groups
- <SineWaveFreq>
- double for axes
- vector of double for groups
Scope
Task or Terminal
Limitations
- No joints are allowed, only axes and groups.
Examples
SineWave ax2 300 SineWaveFreq = 0.4
...
Stop ax2
SineWave grp2 {100, 75} SineWaveFreq = {0.3, 0.5}
...
Stop grp2