MPI 04.00 Reference >> mpiMotion

MPIMotionConfig

Definition

typedef struct MPIMotionConfig {
  MPIMotionDecelTime	decelTime;
  double		         normalFeedrate;
  double		         pauseFeedrate;
  double		         blendLimit;
  char			userLabel[MPIObjectLabelCharMAX+1]; /* +1 for NULL terminator */
  MPIMotionAxisMap		axisMap;
} MPIMotionConfig;

Description

decelTime This structure defines the deceleration time for Stop and E-Stop actions. Please see MPIMotionDecelTime data type documentation for more information.
normalFeedrate This value defines the normal feed speed rate. The default value is 1.0 (100%).
pauseFeedrate This value defines the feed speed rate for the Stop action. The default value is 0.0.
blendLimit This value specifies the acceleration blending limit criteria. If the change direction is greater than 90 degrees (0 degrees = no change, 180 degrees = about face) the acceleration resulting from the blending can exceed the acceleration limit specified in the motion parameters (180 degrees = acceleration*2.0). The blendLimit allows the user to limit the sharpness of turns to be blended. If cosine (turn angle defined above) is greater than the blendLimit, the motion will be blended. A blend limit value of 0 exclude turns sharper than 90 degrees. 1.0 causes all moves to be blended. -1.0 allows no blending
userLabel This value consists of 16 characters and is used to label the motion object for user identification purposes. The userLabel field is NOT used by the controller.
axisMap This value defines the axes currently mapped to the motion object.

Sample Code

void modifyFeedrate(MPIMotion motion,
double normalFeedrate,
double pauseFeedrate)
{
MPIMotionConfig motionConfig;
int32_t returnValue; 
returnValue = mpiMotionConfigGet(motion, &motionConfig);
msgCHECK(returnValue); 
printf("Before: normalFeedrate %g, pauseFeedrate 
%g\n",motionConfig.normalFeedrate,motionConfig.pauseFeedrate);  
motionConfig.normalFeedrate = normalFeedrate;
motionConfig.pauseFeedrate = pauseFeedrate; 
returnValue = mpiMotionConfigSet(motion, &motionConfig);
msgCHECK(returnValue); 
printf("After: normalFeedrate %g, pauseFeedrate 
%g\n",motionConfig.normalFeedrate,motionConfig.pauseFeedrate);
}

See Also

MPIMotionDecelTime | MPIMotionAxisMap