MPIMotionAttrMask

Definition: MPIMotionAttrMask 

typedef enum {
  MPIMotionAttrMaskAPPEND 		= mpiMotionAttrMaskBIT(MPIMotionAttrAPPEND),
  MPIMotionAttrMaskAUTO_START 		= mpiMotionAttrMaskBIT(MPIMotionAttrAUTO_START),
  MPIMotionAttrMaskDELAY			= mpiMotionAttrMaskBIT(MPIMotionAttrDELAY),
  MPIMotionAttrMaskID 			= mpiMotionAttrMaskBIT(MPIMotionAttrID),
  MPIMotionAttrMaskELEMENT_ID 		= mpiMotionAttrMaskBIT(MPIMotionAttrELEMENT_ID),
  MPIMotionAttrMaskRELATIVE		= mpiMotionAttrMaskBIT(MPIMotionAttrRELATIVE),
  MPIMotionAttrMaskSYNC_END		= mpiMotionAttrMaskBIT(MPIMotionAttrSYNC_END),
  MPIMotionAttrMaskSYNC_START 		= mpiMotionAttrMaskBIT(MPIMotionAttrSYNC_START),
  MPIMotionAttrMaskREPEAT 		= mpiMotionAttrMaskBIT(MPIMotionAttrREPEAT),
  MPIMotionAttrMaskMASTER_START		= mpiMotionAttrMaskBIT(MPIMotionAttrMASTER_START),
  MPIMotionAttrMaskNO_BACKTRACK		= mpiMotionAttrMaskBIT(MPIMotionAttrNO_BACKTRACK),
  MPIMotionAttrMaskNO_BACKTRACK_HOLD	= mpiMotionAttrMaskBIT(MPIMotionAttrNO_BACKTRACK_HOLD),
  MPIMotionAttrMaskEVENT			= mpiMotionAttrMaskBIT(MPIMotionAttrEVENT),
  MPIMotionAttrMaskFINAL_VEL		= mpiMotionAttrMaskBIT(MPIMotionAttrFINAL_VEL),
  MPIMotionAttrMaskNO_REVERSAL		= mpiMotionAttrMaskBIT(MPIMotionAttrNO_REVERSAL),
  MPIMotionAttrMaskHOLD			= mpiMotionAttrMaskBIT(MPIMotionAttrHOLD),
  MPIMotionAttrMaskHOLD_LESS		= mpiMotionAttrMaskBIT(MPIMotionAttrHOLD_LESS),
  MPIMotionAttrMaskHOLD_GREATER		= mpiMotionAttrMaskBIT(MPIMotionAttrHOLD_GREATER),
  MPIMotionAttrMaskOUTPUT 		= mpiMotionAttrMaskBIT(MPIMotionAttrOUTPUT),

  MPIMotionAttrMaskALL			= -1 << MPIMotionAttrFIRST
} MPIMotionAttrMask;

Description

MPIMotionAttrMaskAPPEND This mask 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 mask can be used with mpiMotionStart(...).
MPIMotionAttrMaskAUTO_START This mask 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.
MPIMotionAttrMaskDELAY This mask 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.
MPIMotionAttrMaskID This mask enables an identification tag to be stored in the motion profile. Please see MPIMotionAttributes for more information. This mask can be used with mpiMotionStart(...).
MPIMotionAttrMaskELEMENT_ID This mask enables an identification tag to be stored in the path motion profiles. Please see MPIMotionAttributes for more information.
MPIMotionAttrMaskRELATIVE This mask 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.
MPIMotionAttrMaskSYNC_END This mask 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.
MPIMotionAttrMaskSYNC_START This mask 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.
MPIMotionAttrMaskREPEAT 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.
MPIMotionAttrMaskMASTER_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.
MPIMotionAttrMaskNO_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.
MPIMotionAttrMaskNO_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.

Remarks

The motion attribute masks are used to enable features with mpiMotionStart(...). The masks are ORed with the MPIMotionType to enable each feature.

For the motion types MPIMotionTypeS_CURVE_JERK, MPIMotionTypeS_CURVE, MPIMotionTypeTRAPEZOIDAL, if neither MPIMotionAttrMaskSYNC_START nor MPIMotionAttrMaskSYNC_END are specified, then only one MPITrajectory structure is used for by mpiMotionStart(). Please refer to MPIMotionAttr for more information.

Trajectory

Definition: MPIMotionAttrMask

Description

MPIMotionAttrMaskEVENT This mask allows the user to specify an MPIEventMask during a motion.
MPIMotionAttrMaskFINAL_VEL This mask allows the user to specify a non-zero target velocity for point to point motion types.
MPIMotionAttrMaskNO_REVERSAL This mask prevents a motion profile from changing direction.
MPIMotionAttrMaskHOLD This mask prevents a motion profile from executing until the specified trigger conditions are met.
MPIMotionAttrMaskHOLD_LESS Motion attribute mask for less than or equal hold logic.
MPIMotionAttrMaskHOLD_GREATER Motion attribute mask for greater than or equal hold logic.
MPIMotionAttrMaskOUTPUT This mask allows the user to set or clear bits during a motion.
MPIMotionAttrOUTPUT This bit allows the user to set or clear bits during a motion.

See Also

MPIMotionType | MPITrajectory | MPIEventMask | MPIMotionAttrHold | MPIMotionAttrHoldSource | MPIMotionAttrHoldType