IAxis.Halt method

Commands a controlled motion stop. The axis is in the Discrete Motion state until the velocity is zero. With the Done property of the IKsCommand set to true, the state is changed to Standstill.

Namespace: IntervalZero.KINGSTAR.Base.Class

Assembly: IntervalZero.KINGSTAR.Base.Class (in IntervalZero.KINGSTAR.Base.dll) Version: 4.4.0.0

Syntax

C#VB

IHaltCommand Halt(
       double deceleration,
       double jerk,
       McBufferMode bufferMode
)

Function Halt(
       deceleration As Double,
       jerk As Double,
       bufferMode As McBufferMode
)As IHaltCommand

Parameters

deceleration

Type: double

The value of the deceleration. The unit is determined by McProfileType. [unit/second²] or [second]

jerk

Type: double

The value of the jerk. The unit is determined by McProfileType. [unit/second³] or [second]

bufferMode

Type: McBufferMode

Defines how to blend the velocity of two methods.

Return value

Type: IHaltCommand

Returns the properties of a halt.

Remarks

Halt is used to stop the axis under normal operation conditions. In the non-buffered mode, it is possible to set another motion command during deceleration of the axis, which will abort Halt and will be executed immediately.
If this method is active the next command can be sent. For example, a driverless vehicle detects an obstacle and needs to stop. Halt is sent. Before the Standstill is reached, the obstacle is removed and the motion can be continued by setting another motion command, so the vehicle doesn't stop.