MPI 04.00 Reference >> mpiMotion

# mpiMotionSimpleSCurveJerkPercentCartesianMove

## Declaration

mpiMotionSimpleSCurveJerkPercentCartesianMove(MPIMotion motion, const double position[], double velocity, double acceleration, double deceleration, double jerkPercent);

**Required Header:** stdmpi.h

**Change History:** Added in 04.00.

## Description

**mpiMotionSimpleSCurveJerkPercentCartesianMove** begins a multi-axis move with an S-curve velocity profile. All axes will start and stop at the same time. The move trajectory is calculated as occurring in a Cartesian space with each axis perpendicular to all the others. It is equivalent to mpiMotionSCurveJerkPercentCartesianMove(motion, position, velocity, acceleration, deceleration, jerkPercent, 0.0, MPIMotionPointToPointAttrMaskNONE, NULL).

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. |