mpiAxisTrajectory

Declaration

long mpiAxisTrajectory(MPIAxis       axis,
                       MPITrajectory *trajectory)

Required Header

stdmpi.h

Description

AxisTrajectory reads the current velocity and acceleration of axis and writes it into the structure pointed to by trajectory.

NOTE: deceleration, jerkPercent, accelerationJerk, and decelerationJerk fields of trajectory cannot be read from the controller and consequently are set to zero.

	axis	a handle to the Axis object.
	*trajectory	pointer to the MPITrajectory structure

Remarks
	The default MPITrajectory structure can be used by the mpiMotionStart(...) and mpiMotionModify() methods.

Return Values
MPIMessageOK	if AxisTrajectory successfully gets the Axis trajectory and writes it into the structure

See Also	mpiMotionStart \| mpiMotionModify \| MPITrajectory