MPIMotionAttrHold

Definition

      typedef struct MPIMotionAttrHold {
         MPIMotionAttrHoldType   type;
         union {
            long    gate;
            struct {
               long number;
               long mask;
               long pattern;
            } motor;
            struct {
               MPIMotionAttrHoldLogicType logic;
               long number;
               long position;
            } axis;
            struct {
               long *address;
               long mask;
               long pattern;
            } user;
          } source;
          
          double                timeout;
       } MPIMotionAttrHold;

Required Header: stdmpi.h

Change History: Modified in 04.00.

Description

MPIMotionAttrHold combines existing MPIMotionAttrHold and MPIMotionAttrHoldSource, and moves logic type from attributes to the structure itself.

Sample Code

The following code takes a set of position, velocity, and acceleration values and starts a multi-axis coordinated move. 

  void startMove(MPIMotion motion,
                 double position,
                 double velocity,
                 double acceleration) {
                 
       MPI_RESULT returnValue;
       long index;
       long axisCount;
       double *pos;
       
       mpiMotionAxisCount(motion, &axisCount);
       
       pos = malloc(sizeof(double) * axisCount);
       
       for(index = 0; index < axisCount; index++) {
           pos[index] = position;
       }
       
       returnValue =
          mpiMotionSimpleTrapezoidalCartesian(motion, pos, velocity, acceleration);
          msgCHECK(returnValue);
          
       free(pos);
     }

See Also

MPIMotionAttrHoldType | MPIMotionAttrHoldSource | MPIMotionAttrMask