mpiMotionSCurveJerkPercentCoordinatedMove

Declaration

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

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

Description

mpiMotionSCurveJerkPercentCoordinatedMove begins a multi-axis move with an S-curve 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.
jerkPercent	The portion of the acceleration ramp to perform jerk profile. Units are in percent. Range is 0.0 to 100.0. If NULL, 66.6% is used for all axes.
finalVelocity	Rate of change of position at the end of the move.
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.