mpiMotionTrajectory

Declaration

	long mpiMotionTrajectory(MPIMotion motion, MPITrajectory *trajectory)
	Required Header: stdmpi.h

Description

mpiMotionTrajectory reads the current velocity and acceleration for all axes associated with a Motion object (motion). The trajectory argument points to an array of MPITrajectory structures, with a size equal to the number of axes associated with the Motion object (motion).

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

Remarks

external should always be set to NULL.

Return Values
MPIMessageOK

Sample Code


MPITrajectory trajectory;
	
    mpiAxisTrajectory(axis, &trajectory);

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