MPIMotionAttrMask / MEIMotionAttrMask

MPIMotionAttrMask   
 

typedef	enum {
    MPIMotionAttrMaskAPPEND,
    MPIMotionAttrMaskAUTO_START,
    MPIMotionAttrMaskDELAY,
    MPIMotionAttrMaskID,
    MPIMotionAttrMaskELEMENT_ID,
    MPIMotionAttrMaskRELATIVE,
    MPIMotionAttrMaskSYNC_END,
    MPIMotionAttrMaskSYNC_START,
    MPIMotionAttrMaskALL,
} MPIMotionAttrMask;
Description
  MPIMotionAttrMaskAPPEND This mask enables the motion profile to be added to the end of a previous motion profile, in the controller's memory buffer. The APPENDed profile will begin execution after the previous profile has completed and the settling criteria has been met. The APPEND mask can be used with mpiMotionStart(.) or mpiMotionModify(.).
  MPIMotionAttrMaskAUTO_START This mask converts a mpiMotionModify(.) call to a mpiMotionStart(.) if the modify occurs after the previous motion profile has completed. If the previous profile had completed, then mpiMotionModify(.) will return an error code, MPIMotionMessageAUTO_START.
  MPIMotionAttrMaskDELAY This mask enables a time delay (seconds) before the motion profile begins. Please see MPIMotionAttributes for more information. This mask can be used with mpiMotionStart(.).
  MPIMotionAttrMaskID This mask enables an identification tag to be stored in the motion profile. Please see MPIMotionAttributes for more information. This mask can be used with mpiMotionStart(.) and mpiMotionModify(.).
  MPIMotionAttrMaskELEMENT_ID - This mask enables an identification tag to be stored in the path motion profiles. Please see MPIMotionAttributes for more information.
  MPIMotionAttrMaskRELATIVE This mask changes the profile target position from absolute to relative coordinates.
  MPIMotionAttrMaskSYNC_END This mask synchronizes the motion profiles for multiple axes so they will all end at the same time. Delays are inserted before the shorter profiles. When enabled, each axis will use its own MPITrajectory values.
  MPIMotionAttrMaskSYNC_START This mask synchronizes the motion profiles for multiple axes so they will all start at the same time. Delays are inserted after the shorter profiles. When enabled, each axis will use its own MPITrajectory values.
     
Remarks
 

The motion attribute masks are used to enable features with mpiMotionStart(.) and mpiMotionModify(.). The masks are ORed with the MPIMotionType to enable each feature.

For the motion types MPIMotionTypeS_CURVE_JERK, MPIMotionTypeS_CURVE, MPIMotionTypeTRAPEZOIDAL, if neither MPIMotionAttrMaskSYNC_START nor MPIMotionAttrMaskSYNC_END are specified, then only one MPITrajectory structure will be used for by mpiMotionStart() and mpiMotionModify(). Please refer to MPIMotionAttr for more information.
     

Trajectory

 

MEIMotionAttrMask   
 

typedef enum {
    MEIMotionAttrMaskEVENT,
    MEIMotionAttrMaskFINAL_VEL,
    MEIMotionAttrMaskNO_REVERSAL,
    MEIMotionAttrMaskHOLD,
    MEIMotionAttrMaskOUTPUT,
    MEIMotionAttrMaskALL,
} MEIMotionAttrMask;
Description
  MEIMotionAttrMaskEVENT This mask allows the user to specify an MPIEventMask during a motion.
  MEIMotionAttrMaskFINAL_VEL This mask allows the user to specify a non-zero target velocity for point to point motion types.
  MEIMotionAttrMaskNO_REVERSAL This mask prevents a motion profile from changing direction.
  MEIMotionAttrMaskHOLD This mask prevents a motion profile from executing until the specified trigger conditions are met.
  MEIMotionAttrMaskOUTPUT This mask allows the user to set or clear bits during a motion.
     
See Also mpiMotionStart | mpiMotionModify | MPIMotionType | MPITrajectory | MPIEventMask