 | KM_ |
Coordinated Motion class representing the CoordMotion.cpp object
from the C++ Dynotion Code
Use to directly control multiple axis motion
Notably::
Straight Traverse
Straight Feed
Arc Feed
Inheritance HierarchyNamespace: KMotion_dotNet
Assembly: KMotion_dotNet (in KMotion_dotNet.dll) Version: 1.0.1.0 (1.0.1.0)
SyntaxThe KM_CoordMotion type exposes the following members.
Constructors| Name | Description | |
|---|---|---|
 | KM_CoordMotion | Primary constructor for KM_CoordMotion object |
Properties| Name | Description | |
|---|---|---|
 | BoardNumber | Board number (for use in multiple board scenarios) |
| BufferedSegments | Gets how may segments are currently loaded into the CoordMotion buffer |
| FeedRateOverride | Gets/Sets the Feedrate override for all axes |
| FeedRateRapidOverride | Gets/Sets the Feedrate Rapid override for all axes |
| HardwareFRORange | Gets/Sets the Hardware FRO Range for all axes Below this value FRO is handled by hardware (no delay) Above this value FRO is handle by the Trajectory Planner (proper accelerations) |
| InstanceHandle | CCoordMotion class instance pointer |
| Interpreter | RS274 Interpreter Component |
| IsAbort | Returns true if the CoordMotion is aborting |
| IsHalt | Returns true if the CoordMotion is halted |
| IsPreviouslyStopped | Result of previous Interpreter Halt |
| IsSimulation | Flags whether to Simulate commands or not |
| Loaded | Flag to determine that this object has been properly initialized |
| MaxErrorLength | Maximum allowed return error string length |
| MotionParams | Accessor to the various MotionParams |
| RemainingTimeInBuffer | Gets time Total time downloaded into the CoordMotion buffer |
| SpindleRateOverride | Gets/Sets the Spindlerate override for all axes |
| TimeExecuted | Gets how many seconds have already been executed |
| TotalTimeInBuffer | Gets time Total time downloaded into the CoordMotion buffer |
Methods| Name | Description | |
|---|---|---|
| Abort | Abort causes all motion to abruptly stop usually due to something catastrophic like a communication error Use in an E-Stop condition |
| ArcFeed | Perform arc motion at a specified feed rate (in/sec) |
| ArcFeedAccel | Perform arc motion at a specified feed rate (in/sec) and Acceleration (in/sec2) |
| CheckMotionHalt | Cehecks for a motion halt |
| ClearAbort | Clears any existing Abort conditions |
| ClearHalt | Clear any exisiting halts |
| Dispose | Releases object resources |
| DoKMotionBufCmd | Inserts a console script command in the buffer |
| DoKMotionCmd | Processes a console script command |
| DoRateAdjustments | Update the Trajectory Planner's segment feedrates. |
| DoSpecialCommand | Perform segment execution |
| DownloadDoneSegments | Download all computed segments from the Trajectory Planner to the device buffer |
| DownloadInit | Initializes download |
| Dwell | Pause motion fow given amount of time |
| Equals | Determines whether the specified object is equal to the current object. (Inherited from Object) |
| ExecutionStop | Stop the execution of current motion in a controlled number |
 | Finalize | Allows an object to try to free resources and perform other cleanup operations before it is reclaimed by garbage collection. (Inherited from Object) |
| FlushSegments | Flushes the segment buffer |
| GetAxisDefinitions | Get the assignment of KFLOP axis Channels to GCode Axes XYZABC, -1 indicates unused/unassigned axis |
| GetAxisDestination | Gets the axis destination |
| GetAxisPosition | Gets the axis position |
| GetHashCode | Serves as the default hash function. (Inherited from Object) |
| GetType | Gets the Type of the current instance. (Inherited from Object) |
| Halt | Halt cause motion to stop in a controlled manner. A feed hold is commanded so that the motion decellerates along the intended path. After the system completely stops, the exact point in the Coordinated Motion Buffer where the stop actually happened is uploaded and the GCode Interpreter is rewound to that point. |
| KinematicsReadGeoTable | Loads Coordinated Motion Kinematics Geo Correction Table |
| MeasurePointAppendToFile | Write position data to file |
| MemberwiseClone | Creates a shallow copy of the current Object. (Inherited from Object) |
| OnTraverseCompletes | Returns after the Async Traverse is called |
| OutputSegment | Output given segment |
| ReadAndSyncCurPositions | First Syncs the Coor Motion Library to the current axis destinations then sets the passed variables to the CoordMotion's Absolute positions |
| SetAxisDefinitions | Set the assignment of KFLOP axis Channels to GCode Axes XYZABC, -1 indicates unused/unassigned axis |
| SetTPParams | Force the Trajectory Planner to update it's parameters |
| StartTraverse | Fires an async delegate to move axes at traversal speeds non-interpolated |
| StraightFeed | Perform linear motion at a specified feed rate (in/sec) |
| StraightFeedAccel | Perform linear motion at a specified feed rate (in/sec) and Acceleration (in/sec2) |
| StraightTraverse | Move axes at traversal speeds non-interpolated |
| ToString | Returns a string that represents the current object. (Inherited from Object) |
| UpdateCurrentPositionsABS | Sets the passed variables to the CoordMotion's Absolute positions |
| WaitForMoveXYZABCFinished | Blocks calling thread until all commanded motion is complete |
| WaitForSegmentsFinished | Waits for all buffered segments to complete Blocks calling thread until the buffer is complete |
Events| Name | Description | |
|---|---|---|
 | AsyncTraverseCompleted | Event handler to signal calling application when an async traverse has completed |
| CoordMotionArcFeed | Event handler to signal the download of a Arc Feed segment into the Coordmotion buffer |
| CoordMotionArcFeedSixAxis | Event handler to signal the download of a Arc Feed segment into the Coordmotion buffer |
| CoordMotionStraightFeed | Event handler to signal the download of a Straight Feed segment into the Coordmotion buffer |
| CoordMotionStraightFeedSixAxis | Event handler to signal the download of a Straight Feed segment into the Coordmotion buffer |
| CoordMotionStraightTraverse | Event handler to signal the download of a Straight Traverse segment into the Coordmotion buffer |
| CoordMotionStraightTraverseSixAxis | Event handler to signal the download of a Straight Traverse segment into the Coordmotion buffer |
See Also