MC-Basic:MOVESKD

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}