IAxisMoveVelocity

Namespace

ZEquipment

INTERFACE IAxisMoveVelocity

This interface is implemented by axes, whose drives support moving the axes with a specific velocity with a drive-internal profile generator.

Methods

MoveVelocityAsync

METHOD MoveVelocityAsync (
 [input] startToken : ZCore.IStartToken,
 [input] velocity : LREAL)

Starts to move the axes a specific velocity. The method utilizes the drive's profile generator, which may offer to adjust acceleration, deceleration and jerk as PDOs or SDOs as well. The latter parameters are usually vendor specific and thus are not part of the interface. Use the Parameter property of each specialised axis to adjust said values before calling this method. Calling this method will beforehand automatically trigger the following sequences

• Unlock the drive if it has been locked before (AxisPlcOpenMc only)
• Reset any drive errors if there are still errors, which have not been acknowledged yet
• Write parameters to the drive that have been requested to read or write by using the Parameter property of each specialised axis
• Enable the drive if it is not enabled yet

Executing this method while the drive is still Busy with another Async command will cause this method to fail. This can be checked by submitting an StartToken as a startToken. Simply pass such an object and Assert it or check for startToken.Error after calling this method.

Inputs

startToken IStartToken

(optional) object to check if the method was executed successfully - may be 0

velocity LREAL

velocity in drive velocity units, usually millimeter-per-second, or degree-per-second; for variable frequency drives rotations/minute are common