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);
}