Configuration

System.Tuple<double, double> IRelMove.Configuration { get; set; }

Gets or sets the distance and end velocity for this relative move.

Value

Tuple<double, double> – Tuple containing the distance (Item1) and end velocity (Item2).

Throws

• InvalidArgumentException – Invalid position or velocity (+/-Inf, NaN).

• InvalidConfigException – Non-zero end velocity not supported in combination with specified completion criterion.

• UnsupportedException – Non-zero end velocity is not supported, see product specific documentation.

• InvalidOperationException – Configuration update not allowed in current command state.

• CommunicationErrorException – Protocol error.

• ConnectionLostException – Connection to controller lost.

• RebootedException – Controller has been rebooted since this object reference was retrieved, invalidating this reference.

• System.ObjectDisposedException – Object is disposed.

Remarks

If the requested velocity is higher than the corresponding axis’ configured DemandVelocityLimit, the move command errors out when executed. The maximum move parameters set using the corresponding signals are used for generating the trajectory.