Difference between revisions of "MC-Basic:MOVESKD"
(Created page with "{{MC-Basic |SHORT FORM= |SYNTAX= MOVESKD {<robot>} <target point> {Optional Nodal properties} |AVAILABILITY= from 4.9.0 |DESCRIPTION= Kino-Dynamic Straight Line move command. |…") |
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| + | {{Axystems:Template:Temporary-Specification}} | ||
{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= | |SHORT FORM= | ||
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|AVAILABILITY= from 4.9.0 | |AVAILABILITY= from 4.9.0 | ||
|DESCRIPTION= | |DESCRIPTION= | ||
| − | Kino-Dynamic Straight Line move command. | + | 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: [[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, [[Axystems:MC-Basic:robot.ACCELERATIONMAXTRANS|Amrot]], Arot, Dtran, Drot, [[Axystems:MC-Basic:robot.JERKMAXTRANS|Jmtran]], [[Axystems:MC-Basic:robot.JERKTRANS|Jtran]], [[Axystems:MC-Basic:robot.JERKMAXROT|Jmrot]], [[Axystems:MC-Basic:robot.JERKROT|Jrot]] '''DO NOT INFLUENCE''' the movement. | ||
| + | * Only Vrate, Arate and Jrate values can influence the movement. | ||
|TYPE= | |TYPE= | ||
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|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).Works om Speed-Picker(Traverse Arm) and SCARA robot models only. |
|EXAMPLE= | |EXAMPLE= | ||
| + | MOVESKD Picker1 #{0,300,0,0} | ||
|SEE ALSO= | |SEE ALSO= | ||
}} | }} | ||
Revision as of 07:55, 14 November 2011
Axystems:Template:Temporary-Specification 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 can influence the movement.
Syntax
MOVESKD {<robot>} <target point> {Optional Nodal properties}
Availability
from 4.9.0
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}