Class Motion::HelicalIntplCommand

Nested Relationships

This class is a nested type of Class Motion.

Class Documentation

class HelicalIntplCommand

This class contains data for a helical interpolation motion command. A helical interpolation combines a circular interpolation with a linear interpolation so that the resulting motion is a three-dimensional helix. The helix is defined by the center position and arc length of the circular interpolation and the end position of the linear interpolation. The linear interpolation must be along only one axis, and the circular interpolation must be along two other axes.

Public Functions

HelicalIntplCommand()

Public Members

int axis[2]

The two axes that will execute the circular motion of the helix.

int zAxis

The axis that will execute the linear motion of the helix.

double centerPos[2]

The center position of the circular motion, in the dimensions specified in axis. The center position must be at least 1e-6 user units away from the start position.

double zEndPos

The end position of the linear motion.

double arcLengthDegree

The arc length of the motion in degrees.

unsigned char clockwise

If set to 0, a positive arcLengthDegree will result in motion in the counterclockwise direction. If set to 1, a positive arcLengthDegree will result in motion in the clockwise direction. The circular motion will rotate in the direction set by this value, and is not affected by the direction of the linear motion.

HelicalIntplProfileType::T helicalProfileType

This value determines which axes the profile is specified for. See HelicalIntplProfileType for more information regarding the available options.

Profile profile

The profile of the motion command. The helicalProfileType determines which axes this profile is applied to.