MC_HaltPhasing

The function block MC_HaltPhasing is used to bring about a controlled stop of the phase shift of a slave axis relative to the master axis. The "Halt" is always jerk-limited, based on the constant jerk value for the braking delay set in the "Jerk" parameter. MC_HaltPhasing terminates a superimposed movement through MC_PhasingAbsolute or MC_PhasingRelative.

Inputs

VAR_INPUT
    Execute      : BOOL;
    Deceleration : LREAL;
    Jerk         : LREAL;
    BufferMode   : MC_BufferMode;
    Options      : ST_PhasingOptions;
END_VAR

Name	Type	Description
Execute	BOOL	The command is executed with a rising edge.
Deceleration	LREAL	Maximum deceleration value
Jerk	LREAL	Maximum jerk value
BufferMode	MC_BufferMode	MC_Aborting only
Options	ST_PhasingOptions	Not implemented

Inputs/outputs

VAR_IN_OUT
    Master : AXIS_REF;
    Slave  : AXIS_REF;
END_VAR

Name	Type	Description
Master	AXIS_REF	Axis data structure of the master
Slave	AXIS_REF	Axis data structure of the slave

The axis data structure of type AXIS_REF addresses an axis unambiguously within the system. Among other parameters it contains the current axis status, including position, velocity or error state.

Outputs

VAR_OUTPUT
    Done           :    BOOL;
    Busy           :    BOOL;
    Active         :    BOOL;
    CommandAborted :    BOOL;
    Error          :    BOOL;
    ErrorId        :    UDINT;
END_VAR

Name	Type	Description
Done	BOOL	TRUE if velocity = 0 is reached.
Busy	BOOL	TRUE as soon as the command is started with "Execute" and as long as the command is processed. If "Busy" is FALSE, the function block is ready for a new order. At the same time, one of the outputs "Done", "CommandAborted" or "Error" is set.
Active	BOOL	Indicates that the command is executed. If the command was buffered, it becomes active once a running command is completed.
CommandAborted	BOOL	TRUE if the command could not be executed completely. The axis was stopped or the current command was replaced by another Move command.
Error	BOOL	TRUE, if an error occurs.
ErrorID	UDINT	If the error output is set, this parameter supplies the error number.

Requirements

Development environment	Target system type	PLC libraries to include
TwinCAT v3.0.0	PC or CX (x86 or x64)	Tc2_MC2