Difference between revisions of "MC-Basic:SineWave"

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{{Languages|MC-Basic:SineWave}}
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{{Languages|MC-Basic:SineWave}}  
 
{{MC-Basic
 
{{MC-Basic
 
|SHORT FORM=
 
|SHORT FORM=
 
|SYNTAX=
 
|SYNTAX=
SineWave <''axis''><nowiki>|</nowiki><''group''> ''<amplitude>''
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SineWave <''axis''>{{!}}<''group''> ''<Amplitude>'' {SineWaveFreq = ''<SWfreq>''} {Abs = <1{{!}}0>}
  
 
|AVAILABILITY=
 
|AVAILABILITY=
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|DESCRIPTION=
 
|DESCRIPTION=
Performs endless sine-wave motion on the given axis or group.
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Performs endless sine-wave motion on the given axis or group, between the start position and the given target position.
 
The [[MC-Basic:STOP|Stop]] command is used to end the motion.
 
The [[MC-Basic:STOP|Stop]] command is used to end the motion.
  
The ''<amplitude>'' is peak-to-peak amplitude between the current position and the given position.  
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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 [[#See_Also|SineWaveFreq]] property.
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The desired frequency is set by the [[#See_Also|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.  
 
The actually used frequency is limited by the maximal velocity, acceleration and jerk of each axis.  
  
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|TYPE=
 
|TYPE=
;''<amplitude>''
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;''<Amplitude>''
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: double for axes
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: vector of double for groups
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;''<SineWaveFreq>''
 
: double for axes
 
: double for axes
 
: vector of double for groups
 
: vector of double for groups
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|EXAMPLE=
 
|EXAMPLE=
<pre>
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SineWave ax2 300 SineWaveFreq = 0.4<br>
SineWave ax2 300 SineWaveFreq = 0.4
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...<br>
...
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Stop ax2<br>
Stop ax2
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</pre>
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SineWave grp2 {100, 75} SineWaveFreq = {0.3, 0.5}<br>
<pre>
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...<br>
SineWave grp2 {100, 75} SineWaveFreq = {0.3, 0.5}
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Stop grp2<br>
...
 
Stop grp2
 
</pre>
 
  
  

Revision as of 12:38, 26 May 2020

Language: English  • 中文(简体)‎

Performs endless sine-wave motion on the given axis or group, between the start position and the given target position. The Stop command is used to end the motion.

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