MoveTrapezoidal() [2/3]

void MoveTrapezoidal	(	double	position,
		double	vel,
		double	accel,
		double	decel )

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Description:

MoveTrapezoidal commands a point-to-point motion with a trapezoidal velocity profile. This has a trapezoidal shape for the velocity with constant acceleration and deceleration phases.

Parameters

position	Target Position in units.
vel	Maximum velocity, units/second.
accel	Maximum acceleration , units/second/second.
decel	Maximum deceleration , units/second/second.

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.

Note

Non-Blocking Execution Motion commands return instantly and do not pause code execution. Use MotionDoneWait() post-call to block execution until motion completes, or MotionDoneGet() to poll for completion.

Part of the Motion method group.

Sample Code:

AbsoluteMotion

    axis.AmpEnableSet(true);
    axis.MoveTrapezoidal(POSITION, VELOCITY, ACCELERATION, DECELERATION);
    axis.MotionDoneWait();  // wait for motion to complete

RapidSetup:

Go to Axis->Motion (default tab)

Motion Scope:

Trapezoidal Move profile shown below:

See also

Point to Point, MoveSCurve, MoveRelative, MoveVelocity, MovePT, MovePVT

Examples

PointToPoint.cpp, and axis-motion-point-to-point.cs.