Difference between revisions of "MC-Basic:MOVESKD"

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|SCOPE=
 
|SCOPE=
 
|LIMITATIONS=
 
|LIMITATIONS=
* Works with Trapeze-Acceleration profile only! ([[MC-Basic:group.PROFILERTYPE|PrfType]] = 2).
+
* Works with Trapeze-Acceleration profile only! ([[AXY:MC-Basic:group.PROFILERTYPE|PrfType]] = 2).
 
* Implemented on '''Speed-Picker'''(Traverse Arm) and '''SCARA''' robot models only.
 
* Implemented on '''Speed-Picker'''(Traverse Arm) and '''SCARA''' robot models only.
 
* Does not support '''CP Blending mode''' (BlendingMethod = 1).
 
* Does not support '''CP Blending mode''' (BlendingMethod = 1).

Revision as of 07:11, 14 August 2017

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 4.9.10

Limitations

  • Works with Trapeze-Acceleration profile only! (PrfType = 2).
  • Implemented on Speed-Picker(Traverse Arm) and SCARA robot models only.
  • Does not support CP Blending mode (BlendingMethod = 1).

Examples

MOVESKD Picker1 #{0,300,0,0}

See Also