The RMP Motion Controller APIs

◆ MoveSCurve()

void MoveSCurve ( const double *const  position,
const double *const  vel,
const double *const  accel,
const double *const  decel,
const double *const  jerkPct 
)
Description:
MoveSCurve calls a point-to-point S-Curve velocity profile move.
Parameters
*positionArray of target positions (in UserUnits for each Axis).
*velArray of velocities (UserUnits).
*accelArray of accelerations (UserUnits).
*decelArray of decelerations (UserUnits).
*jerkPctArray of jerk percents, which defines the percentage of acceleration time which is smoothed, 0.0 to 100.0
Remarks
This function is also available in RapidSequencer.
Sample Code:
// Assume 2 axes.
double positions[2] = {1000.0, 2000.0};
double velocities[2] = {1000.0, 1000.0};
double accels[2] = {10000.0, 10000.0};
double decels[2] = {10000.0, 10000.0};
double jerkPcts[2] = {50.0, 25.0};
multiAxis->MoveSCurve(positions, velocities, accels, decels, jerkPcts);
See also
MotionAttributeMaskGet
Examples
MultiaxisMotion.cpp.
RSI::RapidCode::MultiAxis::MoveSCurve
void MoveSCurve(const double *const position, const double *const vel, const double *const accel, const double *const decel, const double *const jerkPct)
Point-to-point S-Curve Move.