Motion Related Events

Description

There are five motion related events--two generated by the Motion object and three generated by the Axis object:

Event	Object
EventType.AxisAtTarget	Axis
EventType.AxisNearTarget	Axis
EventType.AxisSettled	Axis
EventType.MotionDone	Motion
EventType.MotionAtVelocity	Motion

The event EventType.AxisAtTarget is generated near the end of a move when an axis' command position has stopped changing at the end of a move (when the command position has reached the target position and is no longer changing).

The event EventType.AxisNearTarget is generated the first time the condition is satisfied during a move.

The event, EventType.AxisSettled is generated any time an axis changes from a non-settled state to a settled state. An axis is considered to be settled when:

The absolute value of PositionError is less than or equal to SettlingTolerancePosition
The absolute value of ActualVelocity is less than or equal to the SettlingToleranceVelocity
Both of the above criteria have been satisfied for the settling time. Whenever either of the above criteria is not satisfied, the “settled” status (AxisStatus.Settled) is cleared and the settling timer is reset.

After a move is commanded, the event EventTypeSettled is first generated when the motion is complete.

The event EventType.AxisSettled is generated the when all axes associated with a Motion object have finished commanding motion and have settled. If events of type EventType.AxisSettled are enabled, then one can expect an EventType.AxisSettled event to be generated at the same time as a EventType.MotionDone event.

The event EventType.MotionAtVelocity is generated when all axes associated with a Motion object have settled at the final velocity of a velocity move. EventType.MotionAtVelocity can be thought of as "EventType.MotionDone for velocity moves."

Description

See Also