Stop()

void Stop

(

)

Description:

If the motion is in the moving state (::RSIStateMOVING), a STOP action will decelerate the axis to a stop in the time specified by the "stop" time configuration - StopTimeSet(). The motion state will transition to ::RSIStateSTOPPING during the deceleration and then to ::RSIStateSTOPPED after the motion completes.
After Stop(), axis does NOT have error state & drive(amplifier) is still enabled

Warning

The stopping time that is used will be from the object (Axis or MultiAxis) that started the active motion, NOT the object that commanded this action.
If a MultiAxis motion is in progress, the stopping time will be determined by MultiAxis::StopTimeSet() and the individual Axis::StopTimeSet() values will be ignored.

Part of the Action method group.

Sample Code:

Motion: Modify

    axis.AmpEnableSet(true);
 
    // start motion
    axis.MoveSCurve(POSITION);
    Console.WriteLine($"\tPosition commanded: {POSITION}");
 
    // set feedrate to 150%
    axis.FeedRateSet(1.5);
    
    // wait here until we reach position 10
    while (axis.CommandPositionGet() < 5)
        Thread.Sleep(10);
 
    // stop motion
    axis.Stop();  
    axis.MotionDoneWait();  
    Console.WriteLine($"\tPosition after FeedRate (1.5): {axis.CommandPositionGet()}");
    
    // set feedrate to reverse motion (-100%)
    axis.FeedRateSet(-1);
    
    // resume motion for a bit
    axis.Resume();  
    Thread.Sleep(500);
    Console.WriteLine($"\tPosition after FeedRate (-1): {axis.CommandPositionGet()}");
 
    // restore feedrate (100%)
    axis.FeedRateSet(1);
 
    // wait for motion done
    axis.MotionDoneWait();    
    Console.WriteLine($"\tPosition after FeedRate (1): {axis.CommandPositionGet()} (expected: {POSITION})");

Note

Stop is the same as Pause, and can be resumed by calling Resume(). This means if you have commanded a move and call Stop() method, axis will retain it's motion profile which will continue upon calling Resume().

RapidSetup:

Go to axis screen->Position and Trajectory box. Various actions (Stop, EStop, Abort) are shown in image below.

See also

StopTimeSet , StopTimeGet , Resume, RSIState

Examples

axis-motion-modify.cs, and axis-motion-streaming-pt-whilestopping.cs.