AxisMotionState

Namespace

ZEquipment

This enumeration describes the typical motion status of an axis, it is most notable used in the axis-base interface and designed to depict the motion state, which is supported by almost all drives.

Fields

Undefined = 0

The axis is in an undefined motion state; This state is mostly set by the drive itself if it is for example in booting procedure

Standstill = 1

The axis is currently standing still or at least the drive is not actively trying to move the axis. The consideration of external forces is usually not considered here.

Accelerating = 2

The axis is accelerating towards the constant velocity phase. However, depending on the motion profile the latter phase may not be reachable, because of a jerk limit of acceleration limit.

Decelerating = 3

The axis is decelerating toward zero velocity (e.g. stillstand).

ConstantVelocity = 4

The axis is moving with constant velocity, either endlessly or towards a target position. Depending on the motion profile, which is used for the movement this motion state may not be reached and instead Accelerating changes seamlessly to Decelerating.