StopGroup

Commands a controlled motion stop and transfers the axis group to the state GroupStopping. It aborts any ongoing function execution. While the axis group is in the GroupStopping state, no other function can perform any motion on this axis group. After the axis group has reached velocity zero, the Done field of KsCommandStatus is set to TRUE immediately. To leave the GroupStopping state and go to GroupStandstill, use ReleaseGroup.

Syntax

KsCommandStatus StopGroup(
     int Index,
     double Deceleration,
     double Jerk
);

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 the McProfileType type. [unit/second²] or [second]

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

Return value

Returns the KsCommandStatus structure.

Remarks

Each axis decelerates as fast as possible.
If Deceleration is set to zero, the resulting action is vendor-specific.
If sent during a MoveXxx command, the velocity/acceleration/deceleration/jerk values of each axis are used. The values specified in this function won't be used. The group motion profile doesn't exceed the safety motion profile of each individual axis.
Any synchronization of the group to a master is cancelled by sending StopGroup.

Example

N/A

Requirements

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