MC_Halt
The MC_Halt FB leads to stopping of motion. The motion stop is always jerk limited with the constant set input ‘Jerk’ for the braking rate. It aborts every ongoing command by other motion FBs. Contrary to the FB MC_Stop the FB MC_Halt may be aborted by commanding another motion FB. In this case, the output ‘CommandAborted’ is set.
The MC_Halt FB sets the ‘Done’ output as soon as the axis has stopped.
Block diagram
Parameter of the FB
VAR_IN_OUT | |||
| Axis | AXIS_REF | Axis reference |
VAR_INPUT | |||
| Execute | BOOL | Start the action at rising edge. |
| Deceleration | LREAL | Value of the deceleration (always positive). Range [1.0, 2147483647.0] |
| Jerk | LREAL | Value of the Jerk (always positive). Range [1.0, 2147483647.0] |
VAR_OUTPUT | |||
| Done | BOOL | Zero velocity reached and execute is not True. |
| CommandAborted | BOOL | Command is aborted by another command. |
| Error | BOOL | Indicates if an error has occurred. |
| ErrorID | WORD | Error identification. |
Behavior of the FB
- Within the FB, the ‘Deceleration’ and ‘Jerk’ input variables are monitored only for their value ranges. If they are exceeded, an error number referring to the variable is output at the ‘ErrorID’ output and ‘Error’ is set to TRUE. Moreover, the ‘Deceleration’ value is limited within the motion controller. If a ‘Deceleration’ value of more than getriebe[0].dynamik.a_max is commanded, the motion is nevertheless run, but the values are limited to the defined values and a warning is issued.
- Values that correspond to a minimum ramp time of TA (cycle time of the IPO, e.g. 2 ms) and a maximum ramp time of 100s make sense as the ‘Jerk’. The limit transition to non-jerk-limited speed realization lies at the minimum ramp time of TA. In the case of a value of 0, the maximum ramp time from the axis MDS is used to determine the ‘Jerk’.