◆ MoveRelative() [1/2]

virtual void MoveRelative ( double *  relativePosition,
double *  vel,
double *  accel,
double *  decel,
double *  jerkPct 
)
pure virtual

Command a relative point-to-point S-Curve motion.

ℹ This function is avaliable in RapidCode and RapidSequencer

Description:
MoveRelative command a relative point-to-point motion, with an S-Curve velocity profile. Each Axis will move relative increment distance from the currently commanded position.
Axis_Motion_Velocity_SCurve.jpg
S-Curve Velocity Profile
Parameters
relativePositionAn array of relative increments, positive or negative, in UserUnits.
velarray of Maximum velocity, units/second.
accelarray of Maximum accleration , units/second/second.
decelarray of Maximum deceleration , units/second/second.
jerkPctarray of Jerk Percent, which defines the percentage of acceleration time which is smoothed, 0.0 to 100.0 .
Sample Code: