MC-Basic:SineWave

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Performs endless sine-wave motion on the given axis or group, between the start position (StartPosition) and the given target position. The Stop command is used to end the motion.
The peak-to-peak amplitude depends on the value of the Abs property. For the default value Abs = 1, the target position is equal to <Amplitude>. For Abs = 0, the target position is equal to the sum <Amplitude>+StartPosition.
The desired frequency is set by the SineWaveFreq property. The default frequency is 1.0 Hz. The actually used frequency is limited by the maximal velocity, acceleration and jerk of each axis.
Group motion is performed on axes level, e.g. no coupling is applied.

Syntax

SineWave <axis>|<group> <Amplitude> {SineWaveFreq = <SWfreq>} {Abs = <1|0>}

Availability

Since Version 4.9.6

Type

<Amplitude>
double for axes
vector of double for groups
<SineWaveFreq>
double for axes
vector of double for groups

Scope

Task or Terminal

Limitations

  • No joints are allowed, only axes and groups.

Examples

SineWave ax2 300 SineWaveFreq = 0.4
...
Stop ax2


SineWave grp2 {100, 75} SineWaveFreq = {0.3, 0.5}
...
Stop grp2

See Also