MotionDoneWait()

int32_t MotionDoneWait

(

int32_t

waitTimeoutMilliseconds = WaitForever

)

Description:

MotionDoneWait Will poll the Axis to see when the motion is complete and settled. It will timeout after the number of milliseconds specified.

axis->MotionDoneWait() polls axis->MotionDoneGet() every 10ms

Returns

elapsed milliseconds

Parameters

waitTimeoutMilliseconds

How many milliseconds to wait before timing out? (Default: WaitForever)

Part of the State and Status method group.

Sample Code:

Motion: Point-to-Point

    axis.AmpEnableSet(true, Constants.AMP_ENABLE_MS);
    axis.MoveTrapezoidal(POSITION, VELOCITY, ACCELERATION, DECELERATION);
    axis.MotionDoneWait();  // wait for motion to complete

Note

This method polls the state of the axis, and sleeps the task for 10 milliseconds each time the state is checked. You might want to create your own version of this method if you are running in a single threaded environment, so you could do other things while waiting for a motion to complete.
MotionDoneWait is true when all the settling criteria has been met. MotionDoneWait is also true if an axis gets ERROR or STOPPED state - StateGet().

This will throw RSI_MOTION_DONE_WAIT_TIMEOUT if it times out.

See also

InterruptWait, MotionDoneGet, WaitForever

Examples

MotionHoldReleasedBySoftwareAddress.cpp, MultiaxisMotion.cpp, PVTmotionMultiAxis.cpp, PathMotion.cpp, SingleAxisSyncOutputs.cpp, SyncOutputWithMotion.cpp, UpdateBufferPoints.cpp, _helpers.cs, axis-motion-hold-via-address.cs, axis-motion-hold-via-digitalinput.cs, axis-motion-hold-via-position.cs, axis-motion-modify.cs, axis-motion-point-to-point.cs, axis-motion-streaming-pt-whilestopping.cs, axis-motion-streaming-pt.cs, axis-motion-streaming-pvajt.cs, axis-motion-streaming-pvt.cs, calculate-acceleration-from-velocity.cpp, camming.cs, difference-of-position-user-limit.cpp, follow-sensor.cpp, gearing.cs, io-sync-outputs.cs, mathblock-calculate-acceleration-from-velocity.cs, mathblock-difference-of-position-userlimit.cs, multiaxis-motion-point-to-point.cs, point-to-point.cpp, userlimit-estop-store-position.cs, userlimit-feedrate.cs, and userlimit-position-abort.cs.