mpiMotionTrapezoidalCoordinatedMove

Declaration

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

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

Description

mpiMotionTrapezoidalCoordinatedMove 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.
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.