Motion profile

To create a motion profile for an axis, use SetAxisMotionProfile.

The unit of acceleration and jerk

Before you move an axis, you can decide the unit of acceleration and jerk, which is described in the McProfileType type. The unit determines how an axis accelerates and decelerates.

profileUnitPerSecond: acceleration in unit per second² and jerk in unit per second³. The unit is count or the user-defined unit when EnableAxisUnitConversion is called.
profileDelayInSecond: acceleration delay in seconds. It determines how much time the interpolation takes when it increases its velocity and accelerates from zero to the max velocity.

Code

To create a motion profile, create an instance of the McProfileSettings structure and use SetAxisMotionProfile. In AxisConfiguration.cpp, add the following code:

Copy

VOID MotionProfile(int Index)
{
    RtPrintf("Create a motion profile.\n");

    McProfileSettings Motion =
    {
        MINIMUM_ERROR,          //MinimumFollowingError
        MAXIMUM_ERROR,          //MaximumFollwingError
        MAXIMUM_VELOCITY,       //MaximumVelocity
        MAXIMUM_ACCELERATION,   //Acceleration
        MAXIMUM_DECELERATION,   //Deceleration
        MAXIMUM_JERK,           //Jerk
        MAXIMUM_JOLT            //Jolt
    };

    //MotionProfileType: profileUnitPerSecond.
    KsError nRet = SetAxisMotionProfile(Index, MOTION_PROFILE_TYPE, Motion);
    if (nRet != errNoError)
        RtPrintf("SetAxisMotionProfile failed: %x\n", nRet);

    RtPrintf("\n");
}