Function that performs movement to a target (with a stationary start) of a generic unit by specifying desired velocity, acceleration and jerk.
The parameters of desired velocity, acceleration and jerk are entered into the relative structure.
The data are assumed only on start. On start with velocity other than 0, there is a stop phase of the unit before starting toward the programmed target.
Hold and fr changes are handled using a linear velocity ramp.
NOTE: It is analogous to the function mv_to_cjv() but the latter allows starting from initial velocity other than 0 and changing runtime parameters.
Syntax |
real mv_to_cj (i32 return, i32 start, stru_mvtocj stru [, i32 holdFlag=0] [, real fr=1]) |
|---|---|
return |
Variable containing information about the state of the function (see returns codes). |
start |
Variable used to have the mission parameters acquired (request with any value <> 0). The function resets the request by writing 0 to it |
stru |
Variable of type stru_mvtocj containing the function parameters |
holdFlag |
Flag to command the hold state to the mission. (optional, default 0) |
fr |
Velocity reduction value (0-1). (optional, default 1) See fr |
Result |
Unit position value |
Validity |
Rule |
Note |
For a concrete example see in RDE environment: Workspace -> Specials -> Examples library.
