Final Velocity Motion

Table of Contents

• 🔹 What is Velocity Motion?
• 🔹 Why use Velocity Motion?
• 📜 Sample Code

Perform an absolute or relative move with a specified final velocity.

🔹 What is Velocity Motion?

An absolute or relative move with a specified, non-zero final velocity.

🔹 Why use Velocity Motion?

A move with final velocity will make an absolute or relative move, and upon reaching the specified position, continue moving at the specified final velocity (as if you had made a position move and then, immediately after, a velocity move). This motion will continue indefinitely until it is stopped, either manually or through the program. To command a move with final velocity, enter your desired final velocity as the last argument in your regular move command.

📜 Sample Code

C# C++

•       int finalVelocity = 5;
   
        axis.MoveSCurve(Constants.POSITION,     // Command an SCurve move with a final velocity of FINAL_VELOCITY.
                        Constants.VELOCITY,
                        Constants.ACCELERATION,
                        Constants.DECELERATION,
                        Constants.JERK_PERCENT,
                        finalVelocity);         // Once the commanded position has been reached, the motor will begin spinning with a speed of FINAL_VELOCITY, and continue to spin at that velocity until stopped.

•   // *NOTICE* The following constants must be configured before attempting to run with hardware.
    const int NUM_AXES = 1; // The number of axes to configure
    const int AXIS_INDEX = 0; // The index of the axis to configure
   
    // Motion Parameters
    const double POSITION_0 = 0;       
    const double POSITION_1 = 0.5;     
    const double VELOCITY = 1;         
    const double ACCELERATION = 10;    
    const double DECELERATION = 10;    
    const double JERK_PERCENT = 50;    
    const double FINAL_VELOCITY = 0.5; 

      std::cout << "SCurve Motion with Final Velocity:" << std::endl;
      std::cout << "Moving to position: " << POSITION_1 << std::endl;
      std::cout << "Final Velocity: " << FINAL_VELOCITY << std::endl;
      axis->MoveSCurve(POSITION_1, VELOCITY, ACCELERATION, DECELERATION, JERK_PERCENT, FINAL_VELOCITY);
      HelperAtVelocityWait(controller, axis, TIMEOUT);
      std::cout << "Motion Complete" << std::endl;
   
      std::cout << "Moving back to position: " << POSITION_0 << std::endl;
      std::cout << "Final Velocity: " << 0 << std::endl;
      axis->MoveSCurve(POSITION_0, VELOCITY, ACCELERATION, DECELERATION, JERK_PERCENT, 0);
      axis->MotionDoneWait(TIMEOUT);
      std::cout << "Motion Complete\n" << std::endl;