MPIGeometricPathElementAttributes
Definition
typedef struct MPIGeometricPathElementAttributes {
int32_t id; /* MPIGeometricPathAttrID */
double velocity; /* MPIGeometricPathAttrVELOCITY */
double acceleration; /* MPIGeometricPathAttrACCELERATION */
double timeSlice; /* MPIGeometricPathAttrTIMESLICE -
ignored for PVT interpolation */
double radiusTolerance; /* MPIGeometricPathElementAttrMaskRADIUS_TOLERANCE */
} MPIGeometricPathElementAttributes;
Description
In MPIGeometricPathElementAttributes, the path attributes define the parameters to be used when specific features are enabled with the path element attribute masks. When using these attributes, be sure to enable the feature with the appropriate MPIGeometricPathElementAttrMask{.}.
| id | This value defines an identification number to be stored in the path element. During path profile execution, at the start of each element the controller loads the id into the axis' ElementID field. The application can query the controller's axis memory to monitor the path element execution. The id is limited to 16-bit resolution by the controller firmware. |
|---|---|
| velocity | This value defines the velocity for the path element. |
| acceleration | This value defines the acceleration for the path element. |
| timeSlice | This value defines the time between interpolation points for the path element. The practical range for the time slice is from 10 msec (.01) to 100 msec (.1). Larger time slice values produce smoother (lower acceleration), less accurate paths. Smaller time slice values produce more accurate (both position and velocity) paths with higher peak accelerations. |
| radiusTolerance | This value defines the maximum allowable change between the starting and ending radii for arc endpoint path elements. If the aboslute value of the difference between the starting and ending radii of an arc exceeds the specified radius tolerance, an error (MPIGeometricPathMessageILLEGAL_RADIUS) will be returned. |
See Also
MPIGeometricPathElementAttrMask