Difference between revisions of "MC-Basic:MOVESKD"
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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. | * Implemented on '''Speed-Picker'''(Traverse Arm) and '''SCARA''' robot models only. | ||
* Does not support '''CP Blending mode''' (BlendingMethod = 1). | * Does not support '''CP Blending mode''' (BlendingMethod = 1). | ||
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}