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MOVE_MOVESINE

This structure defines the parameters for sinusoidal motion of a single axis. It is used to generate smooth oscillatory motion along one direction (X, Y, or Z) in either the base or tool coordinate frame.

BYTE#	Field Name	Data Type	Value	Remarks
0	_iTargetAxs	unsigned char	0~2	Target axis (0: X, 1: Y, 2: Z)
1	_iTargetRef	unsigned char	0~1	Reference coordinate (0: Base, 1: Tool)
2	_fTargetAcc	float		Acceleration time (sec)
6	_fAmplitude	float		Motion amplitude (mm)
10	_fFrequency	float		Oscillation frequency (Hz)
14	_iRepeatCount	unsigned int		Number of sine repetitions
18	_iTargetAsyn	unsigned char	0~1	Motion synchronization flag (0: Sync, 1: Async)

Total size: 19 bytes

Defined in: DRFS.h

typedef struct _MOVE_MOVESINE
{
    /* X:0, Y:1, Z:2 */
    unsigned char _iTargetAxs;
    /* Base:0, Tool:1 */
    unsigned char _iTargetRef;
    /* Acceleration time */
    float _fTargetAcc;
    /* Sinusoidal amplitude (mm) */
    float _fAmplitude;
    /* Sinusoidal frequency (Hz) */
    float _fFrequency;
    /* Repeat count */
    unsigned int _iRepeatCount;
    /* 0: Sync, 1: Async */
    unsigned char _iTargetAsyn;
} MOVE_MOVESINE, *LPMOVE_MOVESINE;

Note

• The MOVE_MOVESINE command creates an oscillatory trajectory along a single axis.

• Use the _iTargetRef flag to define whether the motion occurs in the Base or Tool frame.

• When _iTargetAsyn = 1, the motion runs asynchronously from other axes.