IGroup.Halt method

Commands a controlled motion stop. The axis is in the Discrete Motion state until the velocity is zero. With the Done field of IKsCommand is 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 a state of a halt.

Remarks

Halt is used to stop the axis group under normal operation conditions. In non-buffered mode: During deceleration of the axis group it is possible to set another motion command, which will abort the 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.
The deceleration is proportional to the velocity of each axis. Halt continues to use the path defined in the previous command. No new path is defined in the Halt method.