Function that simultaneously imposes the 3 kinematic units.
In case of limitation, the values are recalculated.
Syntax |
i32 set_kinematics (i32 nAx, real ipDes, real ivDes [, real iaDes=0]) |
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nAx |
Axis number (1-:-32) |
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ipDes |
Desired axis position [unit] |
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ivDes |
Desired axis speed [unit/s] |
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iaDes |
Desired axis acceleration [unit/s^2]. (optional, default 0) |
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Result |
Returns:
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Validity |
Rule |
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System Requirements |
RTE 33.11.3 |
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Note |
For use when CAN is set in cubic interpolation mode (sending position and velocity targets) |
