Class Motion::LinearIntplCommand

Nested Relationships

This class is a nested type of Class Motion.

Class Documentation

class LinearIntplCommand

This class contains data for a linear interpolation motion command.

Public Functions

LinearIntplCommand()

Public Members

unsigned int axisCount

The number of axes in the motion command. This value must be 1 or greater.

int axis[constants::maxAxes]

The axes of the motion command. The axis numbers are specified in the first axisCount indices.

double target[constants::maxAxes]

The target positions of the motion command, specified in the first axisCount indices. Each index corresponds to the axis specified in the same index of the axis array.

double maxVelocity[constants::maxAxes]

The maximum velocities of each axis, specified in the first axisCount indices. Each index correponds to the axis specified in the same index of the axis array. The effects of this value depend on the Linear Intpl Profile Calc Mode parameter of the first interpolating axis (axis[0]).

double maxAcc[constants::maxAxes]

The maximum accelerations of each axis, specified in the first axisCount indices. Each index corresponds to the axis specified in the same index of the axis array. The effects of this value depend on the Linear Intpl Profile Calc Mode parameter of the first interpolating axis (axis[0]).

double maxDec[constants::maxAxes]

The maximum decelerations of each axis, specified in the first axisCount indices. Each index corresponds to the axis specified in the same index of the axis array. The effects of this value depend on the Linear Intpl Profile Calc Mode parameter of the first interpolating axis (axis[0]).

double maxJerkAcc[constants::maxAxes]

The maximum acceleration jerks of each axis, specified in the first axisCount indices. Each index corresponds to the axis specified in the same index of the axis array. The effects of this value depend on the Linear Intpl Profile Calc Mode parameter of the first interpolating axis (axis[0]).

double maxJerkDec[constants::maxAxes]

The maximum deceleration jerks of each axis, specified in the first axisCount indices. Each index corresponds to the axis specified in the same index of the axis array. The effects of this value depend on the Linear Intpl Profile Calc Mode parameter of the first interpolating axis (axis[0]).

Profile profile

The profile of the motion command. The interpolation path will follow this profile, adjusted depending on the values specified in maxVelocity, maxAcc, maxDec, maxJerkAcc, and maxJerkDec, along with the value of the Linear Intpl Profile Calc Mode parameter of the first interpolating axis (axis[0]).