Group_Halt_and_Stop

Group Halt and Stop Functions. More...

Collaboration diagram for Group_Halt_and_Stop:

Functions
RTN_ERR FNTYPE	NMC_GroupHalt (I32_T DevID, I32_T GroupIndex)
	Halt a group (Stand still state). More...
RTN_ERR FNTYPE	NMC_GroupStop (I32_T DevID, I32_T GroupIndex)
	Stop a group (Stop state). More...
RTN_ERR FNTYPE	NMC_GroupHaltAll (I32_T DevID)
	Halt all groups (Stand still state). More...
RTN_ERR FNTYPE	NMC_GroupStopAll (I32_T DevID)
	Stop all groups (Stop state). More...

Detailed Description

Group Halt and Stop Functions.

Function Documentation

RTN_ERR FNTYPE NMC_GroupHalt	(	I32_T	DevID,
		I32_T	GroupIndex
	)

Halt a group (Stand still state).

The API will decrease the velocity for each type of motion, and the group state will transfer from GROUP_MOVING to GROUP_STOPPING during the velocity decreasing, and to the GROUP_STAND_STILL when the velocity is 0. The API shall specify the motion stop in accompanying the buffer mode. If the buffer mode is aborting, the current motion will decrease the velocity immediately. If the buffer mode is buffered, the API will be added into the motion buffer and will not be effective immediately.

Parameters

DevID	Device ID (DevID)
GroupIndex	Group Index

Returns

Return an error code.
If the function is called successfully, the return value is ERR_NEXMOTION_SUCCESS (0). Otherwise, the return value is an error code. All error codes are defined in the header file, NexMotionError.h.

Usage:

Examples:

I32_T dev ID = 0;
I32_T groupIndex = 0;
RTN_ERR ret = 0;
ret = NMC_GroupHalt( devID, gro upIndex );
if( ret != 0 ) return ret;

Reference:
NMC_GroupGetState()

RTN_ERR FNTYPE NMC_GroupHaltAll

(

I32_T

DevID

)

Halt all groups (Stand still state).

The API will decrease the velocity for each type of motion, and the group state will transfer from GROUP_MOVING to GROUP_STOPPING during the velocity decreasing, and to the GROUP_STAND_STILL when the velocity is 0. The API shall specify the motion stop in accompanying the buffer mode. If the buffer mode is aborting, the current moti on will decrease the velocity immediately. If the buffer mode is buffered, the API will be added into the motion buffer and will not be effective immediately.

Parameters

DevID

Device ID (DevID)

Returns

Return an error code.
If the function is called successfully, the return value is ERR_NEXMOTION_SUCCESS (0). Otherwise, the return value is an error code. All error codes are defined in the header file, NexMotionError.h.

Usage:

Examples:

I32_T devID =
RTN_ERR ret =
r et = NMC_GroupHaltAll( devID );
if( ret != 0 ) return ret;

Reference:
NMC_GroupGetState()

RTN_ERR FNTYPE NMC_GroupStop	(	I32_T	DevID,
		I32_T	GroupIndex
	)

Stop a group (Stop state).

The API will decrease the velocity for each type of motion, and the group state will transfer from GROUP_MOVING to GROUP_ST OPPING during the velocity decreasing, and to the GROUP_STAND_STOPPED when the velocity is 0. To execute a new motion, NMC_GroupResetState() shall be called to reset the group state GROUP_STOPPED.

Parameters

DevID	Device ID (DevID)
GroupIndex	Group Index

Returns

Return an error code.
If the function is called successfully, the return value is ERR_NEXMOTION_SUCCESS (0). Otherwise, the return value is an error code. All error codes are defined in the header file, NexMotionError.h.

Usage:

Examples:

I32_T dev ID = 0;
I32_T groupIndex = 0;
RTN_ERR ret = 0;
ret = NMC_GroupStop( devID, groupIndex );
if( ret != 0 ) return ret;

Reference:
NMC_GroupGetState()

RTN_ERR FNTYPE NMC_GroupStopAll

(

I32_T

DevID

)

Stop all groups (Stop state).

The API will decrease the velocity for each type of motion, and the group state will transfer from GROUP_MOVING to GROUP_STOPPING during the velocity decreasing, and to the GROUP_STAND_S TOPPED when the velocity is 0. To execute a new motion, NMC_GroupResetState() shall be called to reset the group state GROUP_STOPPED.

Parameters

DevID

Device ID (DevID)

Returns

Return an error code.
If the function is called successfully, the return value is ERR_NEXMOTION_SUCCESS (0). Otherwise, the return value is an error code. All error codes are defined in the header file, NexMotionError.h.

Usage:

Examples:

I32_T devID = 0;
RTN_ERR ret =
ret = NMC_GroupStopAll( devID );
if( ret != 0 ) return ret;

Reference:
NMC_GroupGetState()