IAxisAbsolute

Namespace

ZEquipment

This interface is implemented by axes, whose drives support absolute encoders to set the axis current position to a specific value.

INTERFACE IAxisAbsolute

Methods

SetAbsolutePositionAsync

Starts to set the axis current position to a specific value. Note drives usually offer numerous additional parameters to this method, like setting the encoder number to use for this operation (some axes have more than just 1 encoder). Use the Parameter property of each specialised axis to adjust such special parameters and refer to the documentation of your drive to find out, which modes are supported. Calling this method will beforehand automatically trigger the following sequences

• Unlock the drive if it has been locked before (this appliesAxisPlcOpenMc only)
• Reset any drive errors if there are still errors, which have not been acknowledged yet
• Write parameters to the drive that have been requested to read or write by using the Parameter property of each specialised axis
• Enable the drive if it is not enabled yet

Executing this method while the drive is still Busy with another Async command will cause this method to fail. This can be checked by submitting an StartToken as a startToken. Simply pass such an object and Assert it or check for startToken.Error after calling this method.

However, the actual sequence for setting the absolute position of a drive may vary from implementation to implementation. Some drives for instance may only allow to set the absolute position in disabled state. In doubt, refer to the documentation of the actual implementation that you are using (i.e. AxisPlcOpenMc).

METHOD SetAbsolutePositionAsync (
 startToken : ZCore.IStartToken,
 position : LREAL)

Inputs

startToken IStartToken

pass an StartToken instance here to check if the call was successfully executed

position LREAL

Position that should be set as ActualPosition