To generate a point-to-point coordinated move, you can
use mpiMotionStart(...) with either a "trapezoidal"
or "S-Curve" type motion. By scaling the Velocities, Accels,
and Decels by the ratio of the distances, you can get a
point-to-point coordinated move. The coordinated moves will
all start and end at the same time.
It doesn't matter what the Jerk Percent parameter value
is, because the calculated move time is the same for both
trapezoidal and S-Curve moves. For example, specifying a
vector Vel, Accel, Decel, and a distance X, Y, Z: