mpiAxisTrajectory

Declaration

	long mpiAxisTrajectory(MPIAxis axis, MPITrajectory *trajectory)
	Required Header: stdmpi.h

Description

mpiAxisTrajectory reads the current velocity and acceleration of axis and writes it into the structure pointed to by trajectory.

NOTE: deceleration, jerkPercent, accelerationJerk, and decelerationJerk fields of trajectory cannot be read from the controller and consequently are set to zero.

axis	a handle to the Axis object.
*trajectory	pointer to the MPITrajectory structure

Remarks

The default MPITrajectory structure can be used by the mpiMotionStart(...) and mpiMotionModify() methods.

Sample Code

MPITrajectory trajectory;
	
    mpiAxisTrajectory(axis, &trajectory);

    printf("Velocity %.3f\n"
           "Acceleration %.3f\n",
           trajectory.velocity,
           trajectory.acceleration);

Return Values
MPIMessageOK