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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|SCOPE= | |SCOPE= | ||
|LIMITATIONS= | |LIMITATIONS= | ||
| − | Works with Trapeze-Acceleration profile only! ([[Axystems:MC-Basic:group.PROFILERTYPE|PrfType]] = 2).Works om Speed-Picker(Traverse Arm) and SCARA robot models only. | + | Works with Trapeze-Acceleration profile only! ([[Axystems:MC-Basic:group.PROFILERTYPE|PrfType]] = 2).Works om '''Speed-Picker'''(Traverse Arm) and '''SCARA''' robot models only. |
|EXAMPLE= | |EXAMPLE= | ||
MOVESKD Picker1 #{0,300,0,0} | MOVESKD Picker1 #{0,300,0,0} | ||
Revision as of 07:15, 6 June 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).Works om Speed-Picker(Traverse Arm) and SCARA robot models only.
Examples
MOVESKD Picker1 #{0,300,0,0}