HaltGroup

Commands a controlled motion stop. The group is moved to the state GroupMoving, until the velocity is zero. When the Done field of KsCommandStatus is TRUE, the state is changed to GroupStandstill.

Syntax

KsCommandStatus HaltGroup(
     int Index,
     double Deceleration,
     double Jerk,
     McBufferMode BufferMode
);

Parameters

Index [in]: the index of an axis group. Indexes are zero based. Aliases affect this parameter. You can have up to 32 groups.

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

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

BufferMode [in]: defines how to blend the velocity of two functions. See the McBufferMode type.

Return value

Returns the KsCommandStatus structure.

Remarks

HaltGroup 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 HaltGroup and will be executed immediately.
If this function is active, the next command can be sent. For example, a driverless vehicle detects an obstacle and needs to stop. HaltGroup 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. HaltGroup continues to use the path defined in the previous command. No new path is defined in the HaltGroup function.

Example

N/A

Requirements

	RT	Win32
Minimum supported version	4.0	4.0
Header	ksmotion.h	ksmotion.h
Library	KsApi_Rtss.lib	KsApi.lib