🔹 What is Velocity Motion?

An absolute or relative move with a specified, non-zero final velocity.

🔹 Why use Velocity Motion?

A move with final velocity will make an absolute or relative move, and upon reaching the specified position, continue moving at the specified final velocity (as if you had made a position move and then, immediately after, a velocity move). This motion will continue indefinitely until it is stopped, either manually or through the program. To command a move with final velocity, enter your desired final velocity as the last argument in your regular move command.

📜 Sample Code

C#
axis.AmpEnableSet(true);

axis.MoveSCurve(POSITION, VELOCITY, ACCELERATION, DECELERATION, JERK_PERCENT, FINAL_VELOCITY); // axis continues at final velocity after reaching position

// wait until axis transitions to final velocity

while (axis.StatusBitGet(RSIEventType.RSIEventTypeMOTION_AT_VELOCITY) == false)

Thread.Sleep(100);
C++
// *NOTICE* The following constants must be configured before attempting to run with hardware.

const int NUM_AXES = 1; // The number of axes to configure

const int AXIS_INDEX = 0; // The index of the axis to configure

// Motion Parameters

const double POSITION_0 = 0;

const double POSITION_1 = 0.5;

const double VELOCITY = 1;

const double ACCELERATION = 10;

const double DECELERATION = 10;

const double JERK_PERCENT = 50;

const double FINAL_VELOCITY = 0.5;

std::cout << "SCurve Motion with Final Velocity:" << std::endl;

std::cout << "Moving to position: " << POSITION_1 << std::endl;

std::cout << "Final Velocity: " << FINAL_VELOCITY << std::endl;

axis->MoveSCurve(POSITION_1, VELOCITY, ACCELERATION, DECELERATION, JERK_PERCENT, FINAL_VELOCITY);

HelperAtVelocityWait(controller, axis, TIMEOUT);

std::cout << "Motion Complete" << std::endl;

std::cout << "Moving back to position: " << POSITION_0 << std::endl;

std::cout << "Final Velocity: " << 0 << std::endl;

axis->MoveSCurve(POSITION_0, VELOCITY, ACCELERATION, DECELERATION, JERK_PERCENT, 0);

axis->MotionDoneWait(TIMEOUT);

std::cout << "Motion Complete\n" << std::endl;

Table of Contents

🔹 What is Velocity Motion?

🔹 Why use Velocity Motion?

📜 Sample Code