Motion.HaltAxis method

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

Namespace: IntervalZero.KINGSTAR.OpcUa.Api

Assembly: IntervalZero.KINGSTAR.OpcUa.Api (in IntervalZero.KINGSTAR.OpcUa.Client.dll) Version: 4.4.0.0

Syntax

C#VB

public KsCommandStatus HaltAxis(
       int Index,
       double Deceleration,
       double Jerk,
       McBufferMode BufferMode
)

Public Function HaltAxis(
       Index As Integer,
       Deceleration As Double,
       Jerk As Double,
       BufferMode As McBufferMode
) As KsCommandStatus

Parameters

Index [in]

Type: int

The index of an axis. Indexes are zero based. Aliases affect this parameter.

Deceleration [in]

Type: double

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

Jerk [in]

Type: double

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

BufferMode [in]

Type: McBufferMode

Defines how to blend the velocity of two methods.

Return value

Type: KsCommandStatus

Returns the KsCommandStatus class.

Remarks

HaltAxis 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 HaltAxis 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. HaltAxis 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.

Examples

N/A