Difference between revisions of "MC-Basic:MOVESKD"
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* 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, [[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. | * 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. | + | * Only Vrate, Arate and Jrate values (of axes, robot and system) can influence the movement. |
|TYPE= | |TYPE= | ||
Revision as of 08:46, 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 (of axes, robot and system) 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}