mpiMotionTrapezoidalCartesianMove

Declaration

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

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

Description

mpiMotionTrapezoidalCartesianMove begins a multi-axis move with a trapezoidal 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.
finalVelocity	Rate of change of position at the end of the move. This is a vector velocity for the entire system.
mask	A bit-mask composed of MPIMotionPointToPointAttrMasks ORed together. Each bit set will enabled the corresponding attribute.
attributes	A pointer to additional data needed for certain mask values.