IAxisMoveCurrent

Namespace: ZEquipment

Some drives support to continuously power an axis with a constant current. If there is nothing blocking the axis, this will cause the axis to accelerate into its positive or negative direction, depending on the sign of the current.

However, when the axis is blocked by an obstactle, this method can be used to apply a constant, uncalibrated force or torque (depending on the axis configuration) to the obstacle. Note that the actual force or torque, respectively, that is applied may also heavily depend on friction and other parameters. Submitting a contant force with this method, while sometimes useful, is kinda heuristic.

INTERFACE IAxisMoveCurrent

Methods

MoveCurrentAsync

Starts to move the axes with a constant current such that the axes will continously accelerate. Since current is proportional to the torque or force a motor can output, this method can be used to apply a constant, uncalibrated force or torque (depending on the axis configuration) to an object.

Note

Most of the time this method has to be used in conjunction with a setup procedure, where monitors like following-error are disabled beforehand. This heavily depends on the kind of drive/axis you are using. In doubt refer to the manufactures drive-documentation.

Warning

Starting the drive by calling this method without any obstacle or counterpart, the motor will accelerate until an equilibrium of force or torque to move the axis and force or torque which decelerates the axis is reached. This can lead to damage of the underlaying mechanical system if not used appropriately.

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.

METHOD MoveCurrentAsync (
 startToken : ZCore.IStartToken,
 current : LREAL)

Inputs

startToken IStartToken

(optional) object to check if the method was executed successfully - may be 0

current LREAL