VT Command

The position at each point is not specified when executing a VT command. The velocity will be constant between two points, and changes to the new velocity at the interface of each point.

VT Command Example

The following code executes a VT command.

Motion::VTCommand vt;

vt.axis = 0;
vt.pointCount = 6;

//Define point data
vt.points[0].velocity = 0;
vt.points[0].timeMilliseconds = 0;

vt.points[1].velocity = 10000;
vt.points[1].timeMilliseconds = 1000;

vt.points[2].velocity = 20000;
vt.points[2].timeMilliseconds = 2000;

vt.points[3].velocity = 30000;
vt.points[3].timeMilliseconds = 3000;

vt.points[4].velocity = 20000;
vt.points[4].timeMilliseconds = 4000;

vt.points[5].velocity = 10000;
vt.points[5].timeMilliseconds = 5000;

//Start VT motion
wmxlib_CoreMotion->motion->StartVT(&vt);

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