PT Command

The velocity at each point is not specified when executing a PT command. The velocity will be constant between two points, but may not be continuous at the interface of each point.

PT Command Example

The following code executes a PT command.

Motion::PTCommand pt;

pt.axis = 0;
pt.pointCount = 6;

//Define point data
pt.points[0].pos = 0;
pt.points[0].timeMilliseconds = 0;

pt.points[1].pos = 10000;
pt.points[1].timeMilliseconds = 1000;

pt.points[2].pos = 30000;
pt.points[2].timeMilliseconds = 2000;

pt.points[3].pos = 60000;
pt.points[3].timeMilliseconds = 3000;

pt.points[4].pos = 80000;
pt.points[4].timeMilliseconds = 4000;

pt.points[5].pos = 90000;
pt.points[5].timeMilliseconds = 5000;

//Start PT motion
wmxlib_CoreMotion->motion->StartPT(&pt);

The following plots show the position, velocity, and acceleration when the above code is executed.