🔹 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#
int finalVelocity = 5;

axis.MoveSCurve(Constants.POSITION, // Command an SCurve move with a final velocity of FINAL_VELOCITY.

Constants.VELOCITY,

Constants.ACCELERATION,

Constants.DECELERATION,

Constants.JERK_PERCENT,

finalVelocity); // Once the commanded position has been reached, the motor will begin spinning with a speed of FINAL_VELOCITY, and continue to spin at that velocity until stopped.
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