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Motion.Trapezoidal

MPX Software API Reference > Controller Object > Motion Object > Move

Initiates a point-to-point motion using a trapezoidal velocity profile similar to that shown below.

Version History

Introduced in MPX 2.0.

Arguments

 
Argument Type Description
Position Variant

The absolute target position in counts.

This argument will generally be an array of doubles where the number of elements in this array must match the number of mapped axes. If only one axis is mapped then a double can be used instead of an array.

Speed Variant
(optional)

The maximum speed, in counts/sec, that will be achieved during the move.

The section on synchronized motion summarizes the different data types and default values this argument uses.

Accel Variant
(optional)

The acceleration, in counts/sec2, that will be used for this move.

The section on synchronized motion summarizes the different data types and default values this argument uses.

Decel Variant
(optional)

The deceleration, in counts/sec2, that will be used for this move .

The section on synchronized motion summarizes the different data types and default values this argument uses.

Attributes MoveAttr
(optional)

Flags that modify the motion.

If this argument is omitted then no attributes are assumed and the standard action is generated.

Overload 1

 
Argument Type Description
position
Double
  
speed
Double
  
accel
Double
  
decel
Double
  
attributes
Mpx.MoveAttribute
  

Overload 2

 
Argument Type Description
position
Double
  
speed
Double
  
accel
Double
  
attributes
Mpx.MoveAttribute
  

Overload 3

 
Argument Type Description
position
Double
  
speed
Double
  
attributes
Mpx.MoveAttribute
  

Overload 4

 
Argument Type Description
position
Double
  
attributes
Mpx.MoveAttribute
  

Overload 5

 
Argument Type Description
position
Double
  
speed
Double
  
accel
Double
  
decel
Double
  

Overload 6

 
Argument Type Description
position
Double
  
speed
Double
  
accel
Double
  

Overload 7

 
Argument Type Description
position
Double
  
speed
Double
  

Overload 8

 
Argument Type Description
position
Double
  

Overload 9

 
Argument Type Description
position
Array of Double
  
speed
Array of Double
  
accel
Array of Double
  
decel
Array of Double
  
attributes
Mpx.MoveAttribute
  

Overload 10

 
Argument Type Description
position
Array of Double
  
speed
Array of Double
  
accel
Array of Double
  
attributes
Mpx.MoveAttribute
  

Overload 11

 
Argument Type Description
position
Array of Double
  
speed
Array of Double
  
attributes
Mpx.MoveAttribute
  

Overload 12

 
Argument Type Description
position
Array of Double
  
attributes
Mpx.MoveAttribute
  

Overload 13

 
Argument Type Description
position
Array of Double
  
speed
Array of Double
  
accel
Array of Double
  
decel
Array of Double
  

Overload 14

 
Argument Type Description
position
Array of Double
  
speed
Array of Double
  
accel
Array of Double
  

Overload 15

 
Argument Type Description
position
Array of Double
  
speed
Array of Double
  

Overload 16

 
Argument Type Description
position
Array of Double
  

 

Visual Basic

Syntax

Sub Trapezoidal(position As Double, speed As Double, accel As Double, decel As Double, attributes As Mpx.MoveAttribute)

Sub Trapezoidal(position As Double, speed As Double, accel As Double, attributes As Mpx.MoveAttribute)

Sub Trapezoidal(position As Double, speed As Double, attributes As Mpx.MoveAttribute)

Sub Trapezoidal(position As Double, attributes As Mpx.MoveAttribute)

Sub Trapezoidal(position As Double, speed As Double, accel As Double, decel As Double)

Sub Trapezoidal(position As Double, speed As Double, accel As Double)

Sub Trapezoidal(position As Double, speed As Double)

Sub Trapezoidal(position As Double)

Sub Trapezoidal(position As Double(), speed As Double(), accel As Double(), decel As Double(), attributes As Mpx.MoveAttribute)

Sub Trapezoidal(position As Double(), speed As Double(), accel As Double(), attributes As Mpx.MoveAttribute)

Sub Trapezoidal(position As Double(), speed As Double(), attributes As Mpx.MoveAttribute)

Sub Trapezoidal(position As Double(), attributes As Mpx.MoveAttribute)

Sub Trapezoidal(position As Double(), speed As Double(), accel As Double(), decel As Double())

Sub Trapezoidal(position As Double(), speed As Double(), accel As Double())

Sub Trapezoidal(position As Double(), speed As Double())

Sub Trapezoidal(position As Double())

Sample Code

 

' Overload 1

'                                pos     speed   accel  decel  MoveAttr

controller.Motion(0).Trapezoidal(1000.0, 5000.0, 500.0, 500.0, Mpx.MoveAttribute.Id)

 

 

' Overload 2

'                                pos     speed   accel  MoveAttr

controller.Motion(0).Trapezoidal(1000.0, 5000.0, 500.0, Mpx.MoveAttribute.Id)

 

 

' Overload 3

'                                pos     speed   MoveAttr

controller.Motion(0).Trapezoidal(1000.0, 5000.0, Mpx.MoveAttribute.Id)

 

 

' Overload 4

'                                pos     MoveAttr

controller.Motion(0).Trapezoidal(1000.0, Mpx.MoveAttribute.Id)

 

 

' Overload 5

'                                pos     speed   accel  decel

controller.Motion(0).Trapezoidal(1000.0, 5000.0, 500.0, 500.0)

 

 

' Overload 6

'                                pos     speed   accel

controller.Motion(0).Trapezoidal(1000.0, 5000.0, 500.0)

 

 

' Overload 7

'                                pos     speed

controller.Motion(0).Trapezoidal(1000.0, 5000.0)

 

 

' Overload 8

'                                pos

controller.Motion(0).Trapezoidal(1000.0)

 

' Overload 9

Dim pos() As Double = New Double() { 1000.0, 2000.0 }

Dim speed() As Double = New Double() { 5000.0, 4000.0 }

Dim accel() As Double = New Double() { 500.0, 750.0 }

Dim decel() As Double = New Double() { 500.0, 750.0 }

'                                pos  speed  accel  decel  MoveAttr

controller.Motion(0).Trapezoidal(pos, speed, accel, decel, Mpx.MoveAttribute.Id)

 

 

' Overload 10

Dim pos() As Double = New Double() { 1000.0, 2000.0 }

Dim speed() As Double = New Double() { 5000.0, 4000.0 }

Dim accel() As Double = New Double() { 500.0, 750.0 }

'                                pos  speed  accel  MoveAttr

controller.Motion(0).Trapezoidal(pos, speed, accel, Mpx.MoveAttribute.Id)

 

 

' Overload 11

Dim pos() As Double = New Double() { 1000.0, 2000.0 }

Dim speed() As Double = New Double() { 5000.0, 4000.0 }

'                                pos  speed  MoveAttr

controller.Motion(0).Trapezoidal(pos, speed, Mpx.MoveAttribute.Id)

 

 

' Overload 12

Dim pos() As Double = New Double() { 1000.0, 2000.0 }

'                                pos  MoveAttr

controller.Motion(0).Trapezoidal(pos, Mpx.MoveAttribute.Id)

 

 

' Overload 13

Dim pos() As Double = New Double() { 1000.0, 2000.0 }

Dim speed() As Double = New Double() { 5000.0, 4000.0 }

Dim accel() As Double = New Double() { 500.0, 750.0 }

Dim decel() As Double = New Double() { 500.0, 750.0 }

'                                pos  speed  accel  decel

controller.Motion(0).Trapezoidal(pos, speed, accel, decel)

 

 

' Overload 14

Dim pos() As Double = New Double() { 1000.0, 2000.0 }

Dim speed() As Double = New Double() { 5000.0, 4000.0 }

Dim accel() As Double = New Double() { 500.0, 750.0 }

'                                pos  speed  accel

controller.Motion(0).Trapezoidal(pos, speed, accel)

 

 

' Overload 15

Dim pos() As Double = New Double() { 1000.0, 2000.0 }

Dim speed() As Double = New Double() { 5000.0, 4000.0 }

'                                pos  speed

controller.Motion(0).Trapezoidal(pos, speed)

 

 

' Overload 16

Dim pos() As Double = New Double() { 1000.0, 2000.0 }

'                                pos

controller.Motion(0).Trapezoidal(pos)

 


Sample Application

 

C#

Syntax

void Trapezoidal(double position, double speed, double accel, double decel, Mpx.MoveAttribute attributes);

void Trapezoidal(double position, double speed, double accel, Mpx.MoveAttribute attributes);

void Trapezoidal(double position, double speed, Mpx.MoveAttribute attributes);

void Trapezoidal(double position, Mpx.MoveAttribute attributes);

void Trapezoidal(double position, double speed, double accel, double decel);

void Trapezoidal(double position, double speed, double accel);

void Trapezoidal(double position, double speed);

void Trapezoidal(double position);

void Trapezoidal(double[] position, double[] speed, double[] accel, double[] decel, Mpx.MoveAttribute attributes);

void Trapezoidal(double[] position, double[] speed, double[] accel, Mpx.MoveAttribute attributes);

void Trapezoidal(double[] position, double[] speed, Mpx.MoveAttribute attributes);

void Trapezoidal(double[] position, Mpx.MoveAttribute attributes);

void Trapezoidal(double[] position, double[] speed, double[] accel, double[] decel);

void Trapezoidal(double[] position, double[] speed, double[] accel);

void Trapezoidal(double[] position, double[] speed);

void Trapezoidal(double[] position);

Sample Code

 

// Overload 1

//                               pos     speed   accel  decel  MoveAttr

controller.Motion[0].Trapezoidal(1000.0, 5000.0, 500.0, 500.0, Mpx.MoveAttribute.Id);

 

 

// Overload 2

//                               pos     speed   accel  MoveAttr

controller.Motion[0].Trapezoidal(1000.0, 5000.0, 500.0, Mpx.MoveAttribute.Id);

 

 

// Overload 3

//                               pos     speed   MoveAttr

controller.Motion[0].Trapezoidal(1000.0, 5000.0, Mpx.MoveAttribute.Id);

 

 

// Overload 4

//                               pos     MoveAttr

controller.Motion[0].Trapezoidal(1000.0, Mpx.MoveAttribute.Id);

 

 

// Overload 5

//                               pos     speed   accel  decel

controller.Motion[0].Trapezoidal(1000.0, 5000.0, 500.0, 500.0);

 

 

// Overload 6

//                               pos     speed   accel

controller.Motion[0].Trapezoidal(1000.0, 5000.0, 500.0);

 

 

// Overload 7

//                               pos     speed

controller.Motion[0].Trapezoidal(1000.0, 5000.0);

 

 

// Overload 8

//                               pos

controller.Motion[0].Trapezoidal(1000.0);

 

 

// Overload 9

double[] pos = new double[] { 1000.0, 2000.0 };

double[] speed = new double[] { 5000.0, 4000.0 };

double[] accel = new double[] { 500.0, 750.0 };

double[] decel = new double[] { 500.0, 750.0 };

//                               pos  speed  accel  decel  MoveAttr

controller.Motion[0].Trapezoidal(pos, speed, accel, decel, Mpx.MoveAttribute.Id);

 

 

// Overload 10

double[] pos = new double[] { 1000.0, 2000.0 };

double[] speed = new double[] { 5000.0, 4000.0 };

double[] accel = new double[] { 500.0, 750.0 };

//                               pos  speed  accel  MoveAttr

controller.Motion[0].Trapezoidal(pos, speed, accel, Mpx.MoveAttribute.Id);

 

 

// Overload 11

double[] pos = new double[] { 1000.0, 2000.0 };

double[] speed = new double[] { 5000.0, 4000.0 };

//                               pos  speed  MoveAttr

controller.Motion[0].Trapezoidal(pos, speed, Mpx.MoveAttribute.Id);

 

 

// Overload 12

double[] pos = new double[] { 1000.0, 2000.0 };

//                               pos  MoveAttr

controller.Motion[0].Trapezoidal(pos, Mpx.MoveAttribute.Id);

 

 

// Overload 13

double[] pos = new double[] { 1000.0, 2000.0 };

double[] speed = new double[] { 5000.0, 4000.0 };

double[] accel = new double[] { 500.0, 750.0 };

double[] decel = new double[] { 500.0, 750.0 };

//                               pos  speed  accel  decel

controller.Motion[0].Trapezoidal(pos, speed, accel, decel);

 

 

// Overload 14

double[] pos = new double[] { 1000.0, 2000.0 };

double[] speed = new double[] { 5000.0, 4000.0 };

double[] accel = new double[] { 500.0, 750.0 };

//                               pos  speed  accel

controller.Motion[0].Trapezoidal(pos, speed, accel);

 

 

// Overload 15

double[] pos = new double[] { 1000.0, 2000.0 };

double[] speed = new double[] { 5000.0, 4000.0 };

//                               pos  speed

controller.Motion[0].Trapezoidal(pos, speed);

 

 

// Overload 16

double[] pos = new double[] { 1000.0, 2000.0 };

//                               pos

controller.Motion[0].Trapezoidal(pos);

 

 

See Also

SCurve

MoveAttr

Axis Object
PositionScale

Synchronized Attributes

 

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