MPICommandMotionPointToPointParams

Definition

typedef struct MPICommandMotionPointToPointParams {
	const double *position;
	const double *velocity;
	const double *acceleration;
	const double *deceleration;
	const double *finalVelocity;
	const double *jerkPercent;
	const double *accelJerk;
	const double *decelJerk;
   MPI_BOOL cartesianMove;
	MPIMotionCoordinationType coordinationType;
	MPIMotionPointToPointAttrMask attrMask;
	const MPIMotionPointToPointAttributes *attributes;
} MPICommandMotionPointToPointParams;

Description

MPICommandMotionPointToPointParams is a structure containing the parameters for a point to point move.

*position	A pointer to an array of target positions for the mapped axes.
*velocity	A pointer to an array of rates of change of position for the mapped axes. The maximum velocity to use for the constant slew portion of the move.
*acceleration	A pointer to an array of rates of change of velocity for the mapped axes. Specifies the initial ramp to reach constant velocity.
*deceleration	An array of rates of change of velocity for the mapped axes. Specifies the final ramp to reach zero velocity. If NULL, accelerations is used in its place.
*jerkPercent	A pointer to the percentage portion of the acceleration ramp to perform jerk profile. Units are in percent. Range is 0.0 to 100.0. If NULL, 66.6% is used for all axes.
*finalVelocity	A pointer to the an array of values for the rate of change of position at the end of the move.
*accelJerk	*accelJerk – a pointer to an array of jerk values (rate of change of acceleration) for the acceleration portion of the move profile.
*decelJerk	A pointer to an array of jerk values (rate of change of acceleration) for the deceleration portion of the move profile.
cartesianMove	If TRUE, only the first element of the velocity, acceleration, deceleration, jerkPercent, finalVelocity, accelJerk, and decelJerk arrays are read. These are interpreted as vector quantities. In this case, coordinationType below is ignored.
coordinationType	Defines the coordination start or end between the axis move profiles.
attrMask	A bit-mask composed of MPIMotionPointToPointAttrMasks ORed together. Each bit set enables the corresponding attribute.
*attributes	A pointer to additional data needed for certain mask values.

MPICommandMotionPointToPointParams

Definition

Description

See Also