MPI 04.00 Reference >> mpiMotion

# 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. |
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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. |