AbortCommand
Cancels a command.
Syntax
KsCommandStatus AbortCommand(
KsCommandStatus Status
);
Parameters
Status: the command you want to abort.
Return value
Returns the KsCommandStatus structure.
Remarks
The value given as Status to AbortCommand should not be empty, but be the return value of another command such as Start.
Usable EtherCAT states
ecatOffline, ecatInit, ecatBoot, ecatPreOP, ecatSafeOP, ecatOP
Example
VOID Lock(INT Index) {
//StopAxis will halt and lock the axis preventing any other move to run
KsCommandStatus status = WaitForCommand(5, FALSE, StopAxis(Index, 36000, 3600000));
//The axis is now locked. The state is axisLocked.
AxisState state = axisOffline;
KsError nRet = GetAxisState(Index, &state);
RtPrintf("Current State: %d\n", state);
//Unlock the axis
status = AbortCommand(status);
}
Requirements
RT | Win32 | |
---|---|---|
Minimum supported version | 4.0 | 4.0 |
Header | ksapi.h | ksapi.h |
Library | KsApi_Rtss.lib | KsApi.lib |
See also