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MPIMotionAttr / MEIMotionAttr

Definition: MPIMotionAttr

 
typedef enum {

    MPIMotionAttrAPPEND,
    MPIMotionAttrAUTO_START,
    MPIMotionAttrDELAY,
    MPIMotionAttrID,
    MPIMotionAttrELEMENT_ID,
    MPIMotionAttrRELATIVE,
    MPIMotionAttrSYNC_END,
    MPIMotionAttrSYNC_START,
    MPIMotionAttrREPEAT, MPIMotionAttrMASTER_START, MPIMotionAttrNO_BACKTRACK, MPIMotionAttrNO_BACKTRACK_HOLD, MPIMotionAttrCOUNT, } MPIMotionAttr;

Description

The motion attributes are used to generate the motion attribute masks to enable features with mpiMotionStart(...) and mpiMotionModify(...). Please see MPIMotionAttrMask data type for more information.

 
MPIMotionAttrAPPEND This bit enables the motion profile to be added to the end of a previous motion profile, in the controller's memory buffer. The APPENDed profile will begin execution after the previous profile has completed and the settling criteria has been met. The APPEND bit can be used with mpiMotionStart(...) or mpiMotionModify(...).
MPIMotionAttrAUTO_START This bit converts a mpiMotionModify(...) call to a mpiMotionStart(...) if the modify occurs after the previous motion profile has completed. If the previous profile had completed, then mpiMotionModify(...) will return an error code, MPIMotionMessageAUTO_START.
MPIMotionAttrDELAY This bit enables a time delay (seconds) before the motion profile begins. This mask can be used with mpiMotionStart(...). Motion with Modify is not supported with the DELAY attribute. Please see MPIMotionAttributes for more information.
MPIMotionAttrID This bit enables an identification tag to be stored in the motion profile. Please see MPIMotionAttributes for more information. This bit can be used with mpiMotionStart(...) and mpiMotionModify(...).
MPIMotionAttrELEMENT_ID This bit enables an identification tag to be stored in the path motion profiles. Please see MPIMotionAttributes for more information.
MPIMotionAttrRELATIVE This bit changes the profile target position from absolute to relative coordinates. Currently only supports APPEND and ID attributes. Support for PT, PVT, SPLINE, BESSEL, or BSPLINE motion types will be added in the future.
MPIMotionAttrSYNC_END This bit synchronizes the motion profiles for multiple axes so they will all end at the same time. Delays are inserted before the shorter profiles. When enabled, each axis will use its own MPITrajectory values.
MPIMotionAttrSYNC_START This bit synchronizes the motion profiles for multiple axes so they will all start at the same time. Delays are inserted after the shorter profiles. When enabled, each axis will use its own MPITrajectory values.
MPIMotionAttrREPEAT This attribute generates a repeating cam motion. If you use this attribute you need to fill in the repeatFrom field in the MPIMotionAttributes structure. See Repeating Cams.
MPIMotionAttrMASTER_START This attribute specifics the position of the master that a cam will start.If you use this attribute you need to fill in the masterStart field in the MPIMotionAttributes structure. See Starting at Specific Master Positions.
MPIMotionAttrREPEAT_NO_BACKTRACK This attribute modifies a cam motion so that when the slave axes will only progress if the master is moving in a positive direction, if the master changes direction and moves backwards the slave axes will hold that position until the master velocity returns to the original direction.This attribute cannot be specified with the MPIMotionAttrNO_BACKTRACK attribute. See Reversal of the Master - Backtracking.
MPIMotionAttrREPEAT_NO_BACKTRACK_HOLD This attribute modifies a cam motion so that when the master changes direction the slave axes will hold that position until the master returns to the point where the direction changed.This attribute cannot be specified with the MPIMotionAttrFORWARD_ONLY attribute. See Reversal of the Master with NO_BACKTRACK_HOLD.

 

Definition: MEIMotionAttr

 
typedef enum {
    MEIMotionAttrEVENT,
    MEIMotionAttrFINAL_VEL,
    MEIMotionAttrNO_REVERSAL,
    MEIMotionAttrHOLD,
    MEIMotionAttrHOLD_LESS,
    MEIMotionAttrHOLD_GREATER,
    MEIMotionAttrOUTPUT,

    MEIMotionAttrCOUNT,
} MEIMotionAttr;

Description

The motion attributes are used to generate the motion attribute masks to enable features with mpiMotionStart(...) and mpiMotionModify(...). Please see MPIMotionAttrMask for more information.

 
MEIMotionAttrEVENT This bit allows the user to specify an MPIEventMask during a motion.
MEIMotionAttrFINAL_VEL This bit allows the user to specify a non-zero target velocity for point to point motion types.
MEIMotionAttrNO_REVERSAL This bit prevents a motion profile from changing direction.
MEIMotionAttrHOLD This bit prevents a motion profile from executing until the specified trigger conditions are met. MPIMotionMessageATTRIBUTE_INVALID will be returned if MEIMotionAttrHOLD is used with a mpiMotionModify(...) method.
MEIMotionAttrHOLD_LESS Motion attribute bit for less than or equal hold logic. MPIMotionMessageATTRIBUTE_INVALID will be returned if MEIMotionAttrHOLD_LESS is used with a mpiMotionModify(...) method.
MEIMotionAttrHOLD_GREATER Motion attribute bit for greater than or equal hold logic. MPIMotionMessageATTRIBUTE_INVALID will be returned if MEIMotionAttrHOLD_GREATER is used with a mpiMotionModify(...) method.
MEIMotionAttrOUTPUT This bit allows the user to set or clear bits during a motion.

See Also

MPIMotionAttrMask | mpiMotionStart | mpiMotionModify

 

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