MovePVT()

void MovePVT	(	const double *const	position,
		const double *const	velocity,
		const double *const	time,
		int32_t	pointCount,
		int32_t	emptyCount,
		bool	retain,
		bool	final )

Description:

MovePVT fits jerk profile segments through the list of position, velocity, time points.

Parameters

*position	Array of positions (p) to move through. (positions are in the UserUnits for each Axis) Axis: [p0, p1, p2, ..., pn] MultiAxis, assuming the Axis mapping is J0, J1, J2: [J0p0, J1p0, J2p0, ..., J0pn, J1pn, J2pn]
*velocity	Array of velocities (v). (velocities are in UserUnits/second for each Axis) Axis: [v0, v1, v2, ..., vn] MultiAxis, assuming the Axis mapping is J0, J1, J2: [J0v0, J1v0, J2v0, ..., J0vn, J1vn, J2vn]
*time	Array of time durations for each point in seconds. Minimum value is your MotionController sample period. Values must be a multiple of the sample period. If each point should take one millisecond, your array would be: [0.001, 0.001, 0.001, etc.]
pointCount	The number of position/time points.
emptyCount	The number of motion frames (2 per point) that must be in the RMP firmware's buffer, below which triggers an OUT_OF_FRAMES E-Stop action. The RapidCode library will load frames to the RMP firmware automatically, when the buffer gets low (1/4 of the MotionController::AxisFrameBufferSizeSet() value). Set emptyCount high enough such that the duration of frames (2 per point) are greater than the value of EStopTimeGet/Set(). emptyCount must also be smaller than 20% of the MotionController::AxisFrameBufferSizeSet() value. Using a value of 0 or -1 will result in undefined motion behavior if the firmware frame buffer is starved.
retain	Points kept, or not kept (must be True if you attempt a negative feedrate to back up on path).
final	True if this is the final streaming motion call, False if more streaming motion calls will occur before this call's points are finishes.

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 Streaming Motion method group.

Performance

MovePT and MovePVT, when starting from RSIStateIDLE, will call InterruptEnableSet() internally. Use MotionAttributeMaskOnSet() with RSIMotionAttrMask::RSIMotionAttrMaskNO_INTERRUPT_ENABLE to disable this behavior, which reduces the time it takes to start the motion. Be sure to call InterruptEnableSet() once during initialization.

Sample Code:

PVTmotion

      int points     = 3;                        // Specify the total number of streamed points. (Very Important!)
      int emptyCount = 2;                       // E-stop generated if there are this number or fewer frames loaded. (Typically for PVT motion there are two frames per PT point)
 
      double[] positions  = { 1.0, 0.5, 0.75 };  // Specify the positions that you want to reach. (it can be n number)
      double[] velocities = { 12.0, 10.0, 6.0 }; // Specify the velocities that you want to use to reach your position.
      double[] times      = { 0.1, 0.2, 0.1 };   // Specify the times in which you want to reach each position. (acceleration is calculated by the RMP)
 
      axis.MovePVT(positions,                    // Specify the positions that you want to reach. (it can be n number)
                   velocities,                   // Specify the velocities that you want to reach. (it can be n number)
                   times,                        // Specify the times in which you want to reach each position. (velocity and acceleration is calculated by the RMP)
                   points,                       // Specify the total number of streamed points.
                   emptyCount,                   // E-stop generated if there are this number or fewer frames loaded. (Typically for PVT motion there are two frames per PT point)
                   false,                        // Specify whether points are kept, or are not kept.
                   true);                        // Specify if this is the last MovePT. (If True, this is the final point. If False, more points expected.)
 
      axis.MotionDoneWait();                     // Wait for motion to be completed.  

Examples

MotionStreaming.cs, and PVTmotionMultiAxis.cpp.