mpiMotionSCurveJerkPercentCartesianMove

Declaration

mpiMotionSCurveJerkPercentCartesianMove(MPIMotion                              motion,
                                        const                                  double position[],
                                        double                                 velocity,
                                        double                                 acceleration,
                                        double                                 deceleration,
                                        double                                 jerkPercent,
                                        double                                 finalVelocity,
                                        MPIMotionPointToPointAttrMask          mask,
                                        const MPIMotionPointToPointAttributes  *attributes);

Required Header: stdmpi.h
Change History: Added in 04.00.

Description

mpiMotionSCurveJerkPercentCartesianMove begins a multi-axis move with an S-curve velocity profile. All axes start and stop at the same time. The move trajectory is calculated as occurring in a Cartesian coordinate system with each axis perpendicular to all the others.

motion	The Motion object to use.
position	An array of target positions for the mapped axes.
velocity	Rate of change of position. The maximum velocity to use for the constant slew portion of the move. This is a vector velocity for the entire system.
acceleration	Rate of change of velocity. Specifies the initial ramp to reach constant velocity and the final ramp reach zero velocity. This is a vector acceleration for the entire system.
deceleration	Rate of change of velocity. Specifies the final ramp to reach zero velocity. This is a vector deceleration for the entire system.
jerkPercent	The 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	Rate of change of position at the end of the move.
mask	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.