AbortMotionObject()

static void AbortMotionObject ( RapidCodeMotion motionObject )

static

Parameters

motionObject

Pointer to the RapidCodeMotion object to abort.

Exceptions

Exception

Thrown if the motion object does not enter the IDLE state after aborting.

Code Snippet

    public static void AbortMotionObject(RapidCodeMotion motionObject)
    {
        motionObject.EStopAbort();
        motionObject.MotionDoneWait();
        motionObject.ClearFaults();
 
        // check for idle state
        if (motionObject.StateGet() != RSIState.RSIStateIDLE)
        {
            RSISource source = motionObject.SourceGet(); // get state source enum 
            string errorMsg = @$"Axis or MultiAxis {motionObject.NumberGet()} failed to enter IDLE state after aborting. 
                                 The source of the axis error is: {motionObject.SourceNameGet(source)}";
            throw new Exception(errorMsg);
        }
    }

Examples

_helpers.cs, axis-homing-ds402-drive.cs, axis-homing-master-based.cs, axis-motion-hold-via-address.cs, axis-motion-hold-via-digitalinput.cs, axis-motion-hold-via-position.cs, axis-motion-streaming-pt-whilestopping.cs, axis-motion-streaming-pt.cs, axis-motion-streaming-pvajt.cs, axis-motion-streaming-pvt.cs, axis-motion-velocity-via-analoginput.cs, camming.cs, compensator-1d.cs, compensator-2d.cs, compensator-single-axis.cs, error-logs.cs, gearing.cs, io-sync-outputs.cs, mathblock-calculate-acceleration-from-velocity.cs, mathblock-difference-of-position-userlimit.cs, multiaxis-motion-point-to-point.cs, multiaxis-motion-velocity.cs, and userlimit-feedrate.cs.

Definition at line 186 of file _helpers.cs.