MPIMotionParams / MPIMotionParams

Definition: MPIMotionParams 

typedef struct MPIMotionParams {
  MPIMotionPT 		pt;
  MPIMotionPTF		ptf;
  MPIMotionPVT 		pvt;
  MPIMotionPVTF		pvtf;
  MPIMotionSPLINE 	spline;
  MPIMotionBESSEL 	bessel;
  MPIMotionBSPLINE	bspline;

  MPIMotionSCurve 	sCurve;
  MPIMotionSCurve 	sCurveJerk;
  MPIMotionTrapezoidal	trapezoidal;

  MPIMotionVelocity	velocity;
  MPIMotionVelocity	velocityJerk;

  MPIMotionCam		cam;

  MPIMotionAttributes	attributes;

  MPIMotionFrame		frame;
} MPIMotionParams;

Description

MPIMotionParams contains the motion trajectory parameters for each motion type and the motion attributes.

pt This structure contains the parameters for a PT motion type. Please see MPIMotionPT data type for more information.
ptf This structure contains the parameters for a PTF (position, time, and feedforward) motion type. Please see MPIMotionPTF data type for more information.
pvt This structure contains the parameters for a PVT motion type. Please see MPIMotionPVT data type for more information.
pvtf This structure contains the parameters for a PTF (position, velocity, time, and feedforward) motion type. Please see MPIMotionPVTF data type for more information.
spline This structure contains the parameters for a SPLINE motion type. Please see MPIMotionSPLINE data type for more information.
bessel This structure contains the parameters for a BESSEL motion type. Please see MPIMotionBESSEL data type for more information.
bspline This structure contains the parameters for a BSPLINE motion type. Please see MPIMotionBSPLINE data type for more information.
sCurve This structure contains the parameters for a S_CURVE motion type. Please see MPIMotionSCurve data type for more information.
sCurveJerk This structure contains the parameters for an S-Curve Jerk point to point motion type. Please see MPIMotionSCurveJerk data type for more information.
trapezoidal This structure contains the parameters for a Trapezoidal point to point motion type. Please see MPIMotionTrapezoidal data type for more information.
velocity This structure contains the parameters for a VELOCITY motion type. Please see MPIMotionVelocity data type for more information.
velocityJerk This structure contains the parameters for a VELOCITY_JERK motion type. Please see MPIMotionVelocity data type for more information.
cam This structure contains the parameters for a cam motion type. Please see MPIMotionCAM data type for more information.
attributes This structure contains the parameters for motion attributes. Please see MPIMotionAttributes data type for more information.
*external This points to an external structure, containing controller specific parameters. Presently, this only supports MPIMotionAttributes. Please see MPIMotionAttributes data type for more information.

Definition: MPIMotionParams

Description

frame This structure contains the frame data and points configuration. See MPIMotionFrame for more information.
attributes This structure contains the motion attributes data. See MPIMotionAttributes for more information.
attributesMPI This structure contains the motion attributes data. See MPIMotionAttributes for more information.

See Also

MPIMotionFrame | MPIMotionAttributes | MPIMotionAttributes

PT and PVT Path Motion