MOVE_MOVELISSAJOUS

This structure defines the parameters for generating a Lissajous motion path, a complex oscillatory trajectory produced by combining two sinusoidal signals on orthogonal planes (XY, YZ, or ZX).

BYTE#	Field Name	Data Type	Value	Remarks
0	_iMotionType	unsigned char	0~2	Target motion axis (0: X, 1: Y, 2: Z)
1	_iPlaneType	unsigned char	0~2	Plane selection (0: XY, 1: YZ, 2: ZX)
2	_iTargetRef	unsigned char	0~1	Reference coordinate (0: Base, 1: Tool)
3	_fTargetAcc	float		Acceleration time (sec)
7	_fAmplitude	float		Amplitude (mm)
11	_fFrequency	float		Oscillation frequency (Hz)
15	_iRepeatCount	unsigned int		Number of repetitions
19	_iTargetAsyn	unsigned char	0~1	Motion synchronization flag (0: Sync, 1: Async)

Total size: 20 bytes

Defined in: DRFS.h

typedef struct _MOVE_MOVELISSAJOUS
{
    /* X:0, Y:1, Z:2 */
    unsigned char _iMotionType;
    /* XY:0, YZ:1, ZX:2 */
    unsigned char _iPlaneType;
    /* Base:0, Tool:1 */
    unsigned char _iTargetRef;
    /* Acceleration time */
    float _fTargetAcc;
    /* Sinusoidal amplitude (mm) */
    float _fAmplitude;
    /* Sinusoidal frequency (Hz) */
    float _fFrequency;
    /* Repeat count */
    unsigned int _iRepeatCount;
    /* 0: Sync, 1: Async */
    unsigned char _iTargetAsyn;
} MOVE_MOVELISSAJOUS, *LPMOVE_MOVELISSAJOUS;

Note

• The MOVE_MOVELISSAJOUS command generates Lissajous curve motion by combining two sinusoidal signals on orthogonal planes.

• It is useful for pattern generation and oscillation testing.

• When _iTargetAsyn = 1, motion runs asynchronously across the selected axes.