MC-Basic:MOVE

{{MC-Basic |SHORT FORM= |SYNTAX= Move <axis> ?'"`UNIQ--nowiki-00000001-QINU`"'? <group> <final position="" value=""> {Optional Property}* {VelocityFinal = <final value="" velocity="">} |AVAILABILITY= All versions |DESCRIPTION= Executes point-to-point moves from current position to target position of a single axis or a group of axes. When a group of axes are being moved, their motion is coordinated in space and time. This means that all axes start and finish their motion a same time. Also all axes are proportionally interpolated from their start position to their end position. For robot groups this type of interpolation will cause non-straight line motion of the end-effector. Typically this type of interpolation in robotic is called joint-interpolation (vs starlight line of MOVES). With groups, the velocity of each axis is set as if the axes composing the group are perpendicular to one another. Sequential MOVE commands may be combined to yield a continuous motion using the [[MC-Basic:element.VELOCITYFINAL|axis.VELOCITYFINAL]  property, but care must be taken that the subsequent moves continue the previous move in the same direction. The MOVE command must specify the <axis> or <group> and the <final position="" value="">. Other properties are optional and may be selected from the following list: [[MC-Basic:element.ABSOLUTE|ABSOLUTE] , [[MC-Basic:element.VELOCITYCRUISE|VELOCITYCRUISE] , [[MC-Basic:element.ACCELERATION|ACCELERATION], [[MC-Basic:element.DECELERATION|DECELERATION] , [[MC-Basic:element.JERK|JERK], VELOCITYCRUISESMOOTH, [[MC-Basic:element.STARTTYPE|STARTTYPE] , [[MC-Basic:element.VELOCITYRATE|VELOCITYRATE] , [[MC-Basic:element.ACCELERATIONRATE|ACCELERATIONRATE], [[MC-Basic:element.JERKRATE|JERKRATE], [[MC-Basic:element.DECELERATIONRATE|DECELERATIONRATE]. These optional properties override the permanent values of the properties for the duration of the command. When using an optional property, the keyword must be specified. The properties are used in the following manner: :<property> = <value> The permanent value is overriden for the duration of the MOVE. For axes, the <final position="" value=""> is a scalar value. For groups, the <final position="" value=""> is a vector, enclosed in braces { }. |TYPE= Double |RANGE= <final position="" value="">: ± MaxDouble
Velocity and acceleration parameters are limited by the respective maximum values (specified by the user). |UNITS= * <final position="" value="">: user units, as given by POSITIONFACTOR. * VELOCITYCRUISE and VELOCITYFINAL: user units, as given by VELOCITYFACTOR * ACCELERATION: user units, as given by ACCELERATIONFACTOR * DECELERATION: user units, as given by ACCELERATIONFACTOR * JERK: user units, as given by JERKFACTOR * VELOCITYRATE, ACCELERATIONRATE, JERKRATE and DECELERATIONRATE: percents of the relevant scaled property units. |DEFAULT= By default, the permanent values of the element properties are used.
VELOCITYFINAL: 0 |SCOPE= Task or Terminal |LIMITATIONS= * A motion element may not be moved if it is attached by another task. * An axis and a group containing that axis may not be moved simultaneously |EXAMPLE= ?'"`UNIQ--pre-00000002-QINU`"'? |SEE ALSO= * axis.ABSOLUTE * axis.ACCELERATION * axis.ACCELERATIONFACTOR * axis.DECELERATION * axis.POSITIONFACTOR * axis.SMOOTHFACTOR * axis.STARTTYPE * axis.VELOCITYCRUISE * axis.VELOCITYFACTOR * axis.ACCELERATIONRATE * axis.JERKRATE * axis.DECELERATIONRATE * axis.VELOCITYRATE * axis.VELOCITYFINAL }}</final></final></final></final></property></final></final></final>