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MotionDoneGet() and StateGet()

RapidCode API
#1

What should I expect MotionDoneGet() to return for the various motion states?

  • IDLE
  • STOPPED
  • MOVING
  • STOPPING
  • ERROR
  • STOPPING_ERROR

What’s described in the docs gives me a hunch about MOVING, but not about the rest of them. I don’t know what “settled” means in these states, particularly IDLE or ERROR.

I want to make sure I have appropriate expectations of MotionDoneGet(). Anecdotal evidence suggests that waiting while in IDLE could take a really long time. I may be doing it wrong, so I want to start with properly informed expectations.

#2

Our Settling Topic has a lot of the extra detail which should help.

Settling behavior can be adjusted with SettleOnStopSet() or SettleOnEStopSet() if you want to RSIEventTypeMOTION_DONE to appear after both the events and settling criteria having been met. These can be adjusted in RapidSetup’s Axis Settling Criteria tab if you’d like to experiment with it.

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#3

The “Settling” doc was helpful. Thank you.

So, if I call MotionDoneWait() when the axis is IDLE, what should I expect? Will it wait for more motion to be commanded and then end before returning (or timing out)?

#4

It should return immediately.

MotionDoneWait is MotionDoneGet with an internal loop to handle the Timeout passed in (Forever if you used that overload). MotionDoneGet checks that status bit of RSIEventTypeMOTION_DONE which I would l expect to be true when in IDLE.

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