The RMP Motion Controller APIs

◆ MoveRelative()

void MoveRelative ( const double *const  relativePosition,
const double *const  vel,
const double *const  accel,
const double *const  decel,
const double *const  jerkPct 
MoveRelative command a relative point-to-point motion, with an S-Curve velocity profile. Each Axis will move relative increment distance from the currently commanded position.
S-Curve Velocity Profile
relativePositionAn array of relative increments, positive or negative, in UserUnits.
velarray of Maximum velocity, units/second.
accelarray of Maximum accleration , units/second/second.
decelarray of Maximum deceleration , units/second/second.
jerkPctarray of Jerk Percent, which defines the percentage of acceleration time which is smoothed, 0.0 to 100.0 .
This function is also available in RapidSequencer.
Sample Code: