MoveVelocitySCurve()

void MoveVelocitySCurve	(	const double *const	velocity,
		const double *const	accel,
		const double *const	jerkPct )

Description:

MoveVelocitySCurve commands the MultiAxis to a specified target velocity for each Axis.

Parameters

*velocity	Array of target velocities (UserUnits/second).
*accel	Array of average accelerations (UserUnits/second/second). (peak up to 2× accel when jerkPercent = 100, see below)
*jerkPct	0.0 to 100.0 - The percentage of acceleration time which is smoothed.

Warning

Using a non-zero JerkPercent increases the maximum acceleration above the user-specified average.
If your system can’t handle the higher peak, you risk overshoot or excessive load. The relation between average acceleration and maximum acceleration is:

\[ Maximum Acceleration \;=\; \frac{accel}{1 - \bigl(jerkPercent \times 0.005\bigr)} \]

• accel: the requested (average) acceleration value given in the MoveSCurve command.
• jerkPercent: the percent of time with non-zero jerk (0–100) given in the MoveSCurve command.
• Maximum Acceleration: the resulting peak commanded acceleration.

See the S-Curve Motion concept page for more information.

Sample Code:

Motion: Multi-Axis

      // RapidCode Objects
      MultiAxis multi;      // Declare what multi is.
 
      // Constants                                
      const int cycles = 2; // Specify how many times you want to update the velocity.
      const int NUM_OF_AXES = 6;
 
      controller.AxisCountSet(NUM_OF_AXES);
      controller.MotionCountSet(NUM_OF_AXES + 1);                                                             // We will need a motion supervisor for every Axis object and MultiAxis object
 
      int i;
      double[] accelerations = new double[6] { 1000, 1000, 1000, 1000, 1000, 1000 }; // Specify the acceleration for all 6 axes.
      double[] velocities    = new double[6];                                        // Initialize the array that will contain the velocities of all 6 axes.
      Random rnd             = new Random();                                         // Initialize the Random object that we will use to generate random velocities.
 
      Axis x_axis = controller.AxisGet(Constants.X_AXIS_NUMBER); // Initialize axis. (You can use RapidSetup to see what axes you are using.)
      Axis y_axis = controller.AxisGet(Constants.Y_AXIS_NUMBER); // Initialize axis.
      Axis z_axis = controller.AxisGet(Constants.Z_AXIS_NUMBER); // Initialize axis.
      Axis a_axis = controller.AxisGet(Constants.A_AXIS_NUMBER);  // Initialize axis.
      Axis b_axis = controller.AxisGet(Constants.B_AXIS_NUMBER);  // Initialize axis.
      Axis c_axis = controller.AxisGet(Constants.C_AXIS_NUMBER);  // Initialize axis.
 
      HelperFunctions.CheckErrors(x_axis);           // Check that the axis has been initialize correctly.
      HelperFunctions.CheckErrors(y_axis);           // Check that the axis has been initialize correctly.
      HelperFunctions.CheckErrors(z_axis);           // Check that the axis has been initialize correctly.
      HelperFunctions.CheckErrors(a_axis);           // Check that the axis has been initialize correctly.
      HelperFunctions.CheckErrors(b_axis);           // Check that the axis has been initialize correctly.
      HelperFunctions.CheckErrors(c_axis);           // Check that the axis has been initialize correctly.
 
      multi = controller.MultiAxisGet(NUM_OF_AXES);               // Configure your MultiAxis on RapidSetup (Make sure MotionCount is 1 higher than AxisCount)
      HelperFunctions.CheckErrors(multi);            // Check that multi has been initialized correctly.
 
      multi.AxisRemoveAll();                                      // If there are any current axes on multi, remove them.
 
      multi.AxisAdd(x_axis);                                      // Add axis to your Multi-Axis controller.
      multi.AxisAdd(y_axis);                                      // Add axis to your Multi-Axis controller.
      multi.AxisAdd(z_axis);                                      // Add axis to your Multi-Axis controller.
      multi.AxisAdd(a_axis);                                      // Add axis to your Multi-Axis controller.
      multi.AxisAdd(b_axis);                                      // Add axis to your Multi-Axis controller.
      multi.AxisAdd(c_axis);                                      // Add axis to your Multi-Axis controller.
 
      multi.Abort();                                              // If there is any motion happening, abort it.
      multi.ClearFaults();                                        // Clear faults and enable all axes.
      multi.AmpEnableSet(true);                                   // Enable the motor.
 
      for (i = 0; i < cycles; i++)                                // This loop will iterate 5 times based on the value of "cycles"
      {
        int random_vel1 = rnd.Next(1, 100);                       // random_vel1 is a number [ >= 1 and < 100 ]
        int random_vel2 = rnd.Next(1, 100);
        int random_vel3 = rnd.Next(1, 100);
        int random_vel4 = rnd.Next(1, 100);
        int random_vel5 = rnd.Next(1, 100);
        int random_vel6 = rnd.Next(1, 100);
 
        velocities = new double[6] {random_vel1,                  // Update axis's velocity.
                                    random_vel2,                  // Update axis's velocity.
                                    random_vel3,                  // Update axis's velocity.
                                    random_vel4,                  // Update axis's velocity.
                                    random_vel5,                  // Update axis's velocity.
                                    random_vel6 };                // Update axis's velocity.
 
        multi.MoveVelocity(velocities, accelerations);            // Move your Multi-Axis. (this will also update the move on the fly)
 
        System.Threading.Thread.Sleep(100);                       // Sleep for 100ms before iterating again.
      }
 
      multi.Abort();                                              // Stop motion on all axes.

See also

MotionAttributeMaskGet