MovePT()

void MovePT ( RSIMotionType  type, double *  position, double *  time, int32  pointCount, int32  emptyCount, bool  retain, bool  final  )

pure virtual

A move commanded by a list of position and time points.

Description:

MovePT fits constant velocity profile segments through the points.

Parameters

type	The Position/Time motion type (Spline, BSpline, etc)
*position	Array of positions.
*time	Array of times (seconds).
pointCount	The number of points.
emptyCount	E-stop generated if there are this number or fewer frames loaded. Use the value “0” to trigger an E-stop when the buffer is empty, or “-1” to not trigger an E-stop. (Typically for PT motion there are two frames per PT point)
retain	Points kept, or not kept.
final	If True, this is the final point. If False, more points expected.

Note

In most cases, a servo motor has a feedback device mounted. Depending on feedback device resolution, one motor shaft rotation will produce fixed value of counts. Example: motor has a resolution of 8192 counts. This means if 8192 is entered as distance to move, motor will move single revolution. User can implement UserUnitsSet() to change to a different unit (ex: mm, inches, etc) from encoder counts.

Sample Code:

axis->MovePT(position, time, POINTS, -1, false, false);

See also

PVT, DifferentMotionTypes, MoveSCurve, MoveTrapezoidal, MovePVT

Examples

PTmotion.cpp, PTmotion.cs, PTmotionWhileStopping.cpp, PTmotionWhileStopping.cs, SingleAxisSyncOutputs.cpp, SingleAxisSyncOutputs.cs, SyncOutputWithMotion.cpp, and UpdateBufferPoints.cpp.