Set Motion Profile
SET_MOTION_PROFILE · V4.23Set the current task motion profile: start rate, linear and arc rates/accelerations, and pause deceleration. This instruction changes parameters without moving axes.
Requires multi-axis interpolation mode.
Hexadecimal notation is used for IDs, indexes, modes and sentinel values where applicable. Physical quantities (such as pulses, milliseconds and pulse/s) remain in their native units. Macro names are shown only when defined by the firmware.
Input parameters
| Parameter | Initial value | Meaning |
|---|---|---|
Start ratestart_rate_hz | Use Current (CURRENT) | Start pulse frequency, in Hz. |
Linear max rateline_rate_hz | Use Current (CURRENT) | Maximum linear-interpolation pulse frequency, in Hz. |
Linear accelerationline_accel_steps_s2 | Use Current (CURRENT) | Linear-interpolation acceleration, in pulses/s². |
Arc max ratearc_rate_hz | Use Current (CURRENT) | Maximum arc-interpolation pulse frequency, in Hz. |
Arc accelerationarc_accel_steps_s2 | Use Current (CURRENT) | Arc-interpolation acceleration, in pulses/s². |
Pause decelerationpause_decel_steps_s2 | Use Current (CURRENT) | Deceleration used when motion is paused, in pulses/s². |
Initial values are editor defaults for a newly inserted instruction; configure them for the actual machine.
Execution and usage
- Parameters accept CURRENT (keep the current value), DEFAULT (clear this task override and use the saved system default), or an explicit number. Task parameters do not write machine Flash; called functions use the caller task parameter context.