ItpEStop
from library version 5.3.9 and
TwinCAT V2.8 B540 or V2.9 B905
 | Outdated version The sole purpose of the function block is to ensure compatibility with existing projects. For new projects please use the function block ItpEStopEx. |
Interface
VAR_INPUT
bExecute : BOOL;
nGrpId : UDINT;
fDec : LREAL;
fJerk : LREAL;
tTimeOut : TIME;
END_VAR
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR
Description
The function block ItpEStop triggers the NCI EStop and enables a controlled stop on the path. The limit values for the deceleration and the jerk are transferred as parameters. If these should be smaller than the currently active dynamic parameters, the transferring parameters are rejected.
The function block has the following inputs:
Input | Data type | Description |
|---|---|---|
bExecute | BOOL | The command is triggered by a rising edge at this input |
nGrpId | UDINT | Group ID |
fDec | LREAL | Max. deceleration during stopping. |
fJerk | LREAL | Max. jerk during stopping |
tTimeOut | TIME | ADS Timeout-Delay |
|
Output |
Data type |
Description |
|---|---|---|
|
bBusy |
BOOL |
This output remains TRUE until the function block has executed a command, but at the longest for the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored. |
|
bErr |
BOOL |
This output is switched to TRUE as soon as an error occurs during the execution of a command. The command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at the inputs. |
|
nErrId |
UDINT |
Contains the command-specific error code of the most recently executed command. Is reset to 0 by the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error documentation or in the NC error documentation (error codes above 0x4000). |
see also:
Requirements
|
Development Environment |
Target System |
PLC Libraries to include |
|---|---|---|
|
TwinCAT v2.7.0 |
PC (i386) |
not implemented |
|
TwinCAT v2.8.0 |
PC (i386) |
TcNci.lib |
|
TwinCAT v2.9.0 |
PC (i386) |
TcNci.lib |