MPICommandMotionVelocityParams
Definition
typedef struct MPICommandMotionVelocityParams {
const double *velocity;
const double *acceleration;
const double *jerkPercent;
const double *accelJerk;
MPIMotionVelocityAttrMask attrMask;
const MPIMotionVelocityAttributes *attributes;
} MPICommandMotionVelocityParams;
Description
MPICommandMotionVelocityParams is a structure containing the parameters for a velocity move.
*velocity |
A pointer to an array of rates of change of position for the mapped axes. The maximum velocity to use for the constant slew portion of the move. |
|---|---|
| *acceleration | A pointer to an array of rates of change of velocity for the mapped axes. Specifies the initial ramp to reach constant velocity. |
| *jerkPercent | A pointer to the percentage 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. |
| *accelJerk | *accelJerk – a pointer to an array of jerk values (rate of change of acceleration) for the acceleration portion of the move profile. |
| attrMask | 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. |
See Also
mpiMotionMultiAxisVelocityJerkMove