Single axis trajectory

This example configures a time-constrained move for one axis.

Example

PROGRAM ExampleSingleAxis
VAR
  otg : Struckig.Otg(cycletime := 0.001, dofs := 1) := (
    EnableAutoPropagate := TRUE,
    Synchronization := Struckig.SynchronizationType.TimeSync,
    MinDuration := 10.0, // considered when synchronization is TimeSync
    MaxVelocity :=         [2000.0],
    MaxAcceleration :=     [20000.0],
    MaxJerk :=             [800000.0],
    CurrentPosition :=     [0.0],
    CurrentVelocity :=     [0.0],
    CurrentAcceleration := [0.0],
    TargetPosition :=      [100.0],
    TargetVelocity :=      [0.0],
    TargetAcceleration :=  [0.0]
  );
END_VAR

otg();

Notes

• MinDuration stretches the motion only when the unconstrained solution would be faster.
• Use consistent units per axis, for example mm, mm/s, mm/s^2, mm/s^3.
• To run acceleration-only profiles, omit jerk constraints by leaving MaxJerk at infinity defaults.

Visualization presets and matching ST code

These presets match the single-axis trajectories visualized in Ruckig Web Visualization.

Preset	current_position	current_velocity	target_position	target_velocity	max_velocity	max_acceleration	max_jerk
Position	0	0	10	0	3	2	5
Velocity	0	2	8	1.5	3	2	5
Constraints	0	0	10	0	1.5	0.8	1

Position preset

PROGRAM ExampleSingleAxisPositionPreset
VAR
  otg : Struckig.Otg(cycletime := 0.001, dofs := 1) := (
    EnableAutoPropagate := TRUE,
    CurrentPosition :=     [0.0],
    CurrentVelocity :=     [0.0],
    CurrentAcceleration := [0.0],
    TargetPosition :=      [10.0],
    TargetVelocity :=      [0.0],
    TargetAcceleration :=  [0.0],
    MaxVelocity :=         [3.0],
    MaxAcceleration :=     [2.0],
    MaxJerk :=             [5.0]
  );
END_VAR

otg();

Velocity preset

PROGRAM ExampleSingleAxisVelocityPreset
VAR
  otg : Struckig.Otg(cycletime := 0.001, dofs := 1) := (
    EnableAutoPropagate := TRUE,
    CurrentPosition :=     [0.0],
    CurrentVelocity :=     [2.0],
    CurrentAcceleration := [0.0],
    TargetPosition :=      [8.0],
    TargetVelocity :=      [1.5],
    TargetAcceleration :=  [0.0],
    MaxVelocity :=         [3.0],
    MaxAcceleration :=     [2.0],
    MaxJerk :=             [5.0]
  );
END_VAR

otg();

Constraint-limited preset

PROGRAM ExampleSingleAxisConstraintPreset
VAR
  otg : Struckig.Otg(cycletime := 0.001, dofs := 1) := (
    EnableAutoPropagate := TRUE,
    CurrentPosition :=     [0.0],
    CurrentVelocity :=     [0.0],
    CurrentAcceleration := [0.0],
    TargetPosition :=      [10.0],
    TargetVelocity :=      [0.0],
    TargetAcceleration :=  [0.0],
    MaxVelocity :=         [1.5],
    MaxAcceleration :=     [0.8],
    MaxJerk :=             [1.0]
  );
END_VAR

otg();

Single-axis trajectory profile

Position preset (Ruckig GUI)

Velocity preset (Ruckig GUI)

Constraint-limited preset (Ruckig GUI)