Difference between revisions of "MC-Basic:MOVESKD"
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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: [[Axystems:MC-Basic:robot.VELOCITYMAXTRANS|Vmtran]], [[Axystems:MC-Basic:robot.VELOCITYTRANS|Vtran]], [[Axystems:MC-Basic:robot.VELOCITYMAXROT|Vmrot]], [[Axystems:MC-Basic:robot.VELOCITYROT|Vrot]], Amtran, Atran, [[MC-Basic:robot.ACCELERATIONMAXTRANS|Amrot]], Arot, Dtran, Drot, [[MC-Basic:robot.JERKMAXTRANS|Jmtran]], [[ | + | * Cartesian motion parameters: [[Axystems:MC-Basic:robot.VELOCITYMAXTRANS|Vmtran]], [[Axystems:MC-Basic:robot.VELOCITYTRANS|Vtran]], [[Axystems:MC-Basic:robot.VELOCITYMAXROT|Vmrot]], [[Axystems: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. | ||
Revision as of 08:54, 22 May 2014
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}