IAxisHalt

Namespace

ZEquipment

The very base method to bring a drive to standstill is by performing a simple stop which is located in IAxisBase. This has to be implemented by every axis specialization.

A second aproach, which is mostly a more gently stop is a halt. This is mostly performed with the same ramping as a normal trajectory would be calculated. This halt interface should be added to every axis which supports a halt additionatl to a drive stop (often also called quickstop).

INTERFACE IAxisHalt

Methods

HaltAsync

By using this method the drive will stop with the same position profile (regarding jerk, acceleration and deceleration) as it is used to move the axis. Calling this method will beforehand automatically trigger the following sequences

• Unlock the drive if it has been locked before (AxisPlcOpenMc only)

To check if the method could be started successfully, pass such an StartToken as a startToken. Then Assert this object or check for startToken.Error.

METHOD HaltAsync (
 startToken : ZCore.IStartToken)

Inputs

startToken IStartToken

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