MoveSCurve() [2/2]

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

*position	Array of target positions (in UserUnits for each Axis).
*vel	Array of velocities (UserUnits/second).
*accel	Array of average accelerations (UserUnits/second/second). (peak up to 2× accel when jerkPercent = 100, see below)
*decel	Array of average decelerations (UserUnits). (peak up to 2× decel when jerkPercent = 100, see below)
*jerkPct	Array of jerk percents, which defines the percentage of acceleration time which is smoothed, 0.0 to 100.0

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.

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.

Warning

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

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

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

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

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.cs, and MultiaxisMotion.cpp.