mpiMotionSimpleTrapezoidalCoordinatedMove

Declaration

MPI_RESULT
mpiMotionSimpleTrapezoidalCoordinatedMove(MPIMotion                  motion,
                                          const double               position[],
                                          const double               velocity[],
                                          const double               acceleration[],
                                          const double               deceleration[],
                                          MPIMotionCoordinationType  sync);

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

Description

mpiMotionSimpleTrapezoidalCoordinatedMove begins a multi-axis move with a trapezoidal velocity profile. It is equivalent to mpiMotionTrapezoidalCoordinatedMove(motion, position, velocity, acceleration, acceleration, sync, MPIMotionPointToPointAttrMaskNONE, NULL).

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 zero velocity. If NULL, accelerations is used in its place.
type	The type of coordination to use.For more information, see MPIMotionCoordinationType.