Difference between revisions of "MC-Basic:MOVESKD"
| Line 23: | Line 23: | ||
MOVESKD Picker1 #{0,300,0,0} | MOVESKD Picker1 #{0,300,0,0} | ||
|SEE ALSO= | |SEE ALSO= | ||
| + | * [[File:AXY;Kino-Dynamic Interpolation ver 0.pdf |Kino-Dynamic Interpolation]] | ||
| + | * [[http://en.wikipedia.org/wiki/Kinodynamic_planning Kinodynamic_planning]] | ||
}} | }} | ||
Revision as of 09:46, 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}