mpiMotionSCurveJerkCoordinatedMove

Declaration

mpiMotionSCurveJerkCoordinatedMove(MPIMotion                              motion,
                                   const double                           position[],
                                   const double                           velocitiy[], 
                                   const double                           acceleration[],
                                   const double                           deceleration[],
                                   const double                           finalVelocity[],
                                   const double                           accelJerk[],
                                   const double                           decelJerk[],
                                   MPIMotionCoordinationType              sync,
                                   MPIMotionPointToPointAttrMask          mask,
                                   const MPIMotionPointToPointAttributes  *attributes);

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

Description

mpiMotionSCurveJerkCoordinatedMove begins a multi-axis move with a trapezoidal velocity profile.

motion	The Motion object to use.
position	An array of target positions for the mapped axes.
Velocity	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	An array of rates of change of velocity for the mapped axes. Specifies the initial ramp to reach constant velocity.
deceleration	An array of rates of change of velocity for the mapped axes. Specifies the final ramp to reach final velocity. If NULL, accelerations is used in its place.
finalVelocity	An array of rates of change of position for the mapped axes. The final velocity at the end of the move. If NULL, zero is used for all axes.
accelJerk	An array of rates of change of acceleration for the mapped axes. Specifies the initial ramp to reach constant velocity.
deccelJerk	An array of Rats of change of acceleration for the mapped axes. Specifies the final ramp to reach zero velocity. If NULL, accelJerk is used in its place.
type	The type of coordination to use. For more information, see MPIMotionCoordinationType.
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.