TYPE SMC_DCA_PHASE : STRUCT
A movement phase with a fixed type, such as steady motion, changing velocity, or changing acceleration. Used by SMC_MoveGeneral and MC_MoveVelocity.
InOut:
|
Name |
Type |
Comment |
|
typ |
||
|
fDeltaQ |
LREAL |
The (signed) distance travelled |
|
fVelStart |
LREAL |
The (signed) velocity at the start |
|
fVelEnd |
LREAL |
The (signed) velocity at the end |
|
fAccStart |
LREAL |
The (signed) acceleration at the start |
|
fAccEnd |
LREAL |
The (signed) acceleration at the end |
|
fJerk |
LREAL |
The (signed) jerk, only used for type SMC_const_jerk |
|
fDuration |
LREAL |
The duration in seconds |
