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.Dd $Mdocdate: March 29 2009 $
.Dt CNCMOVE 2
.Os
.Sh NAME
.Nm cncmove
.Nd coordinated motion of motorized axis
.Sh SYNOPSIS
.Fd #include <sys/cnc.h>
.Ft int
.Fn cncmove "const struct cnc_velocity *vel" "const cnc_vec_t *tgt"
.Sh DESCRIPTION
.Nm
invokes the kernel's trajectory planner to perform coordinated motion (e.g.,
of the registered
.Xr servo 4
devices), from its current position to
.Fa tgt ,
specified in absolute machine coordinates.
The call returns only when the motion is complete.
.Pp
The
.Fa vel
argument specifies the velocity profile.
.Ft cnc_velocity
is defined as:
.Bd -literal
struct cnc_velocity {
	u_long v0;		 /* min steps/s */
	u_long F;		 /* max steps/s */
	u_long Amax;		 /* max steps/ms^2 */
	u_long Jmax;		 /* max steps/ms^3 */
.Ed
.Pp
The
.Va v0
field specifies the initial velocity in steps/second.
It can be set to zero.
Too high a value can cause shock in the machine.
.Va i_F
specifies the nominal velocity in steps/second.
The kernel may or may not reach this value depending on the length of motion
and kinematic limits.
.Va i_Amax
is the limit on acceleration in steps/second^2 and
.Va i_Jmax
specifies the jerk limit in steps/second^3.
.Sh RETURN VALUES
If the motion is successful, a 0 value is returned.
A return value of \-1 indicates an error, which is further specified in the global
.Va errno .
.Sh ERRORS
The
.Fn cncmove
will fail if:
.Bl -tag -width Er
.It Bq Er ENXIO
The trajectory planner has not been calibrated (see
.Xr cncctl 8 ) .
.It Bq Er EINVAL
One of the specified parameters exceeds the kinematic limits of the machine
(as configured by
.Xr cncctl 8 ) .
.It Bq Er EINTR
Program has been interrupted by an
.Xr estop 4
event.
.It Bq Er ENODEV
The kernel has been compiled without support for trajectory planning.
.El
.Sh SEE ALSO
.Xr cnc 3 ,
.Xr cncjog 2 ,
.Xr cncjogstep 2
.Rs
.%A Daniela Constantinescu
.%T "Smooth Time Optimal Trajectory Planning for Industrial Manipulators"
.Re
.Rs
.%A Wei-Jen Chang
.%T "Acceleration/Deceleration Planning with Jerk Limitation for Multi-Axis Motion Control"
.Re
.Rs
.%A Sonja Macfarlane
.%T "On-Line Smooth Trajectory Planning for Manipulators"
.Re
.Sh HISTORY
The
.Nm
function appeared in FabBSD 1.0.