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 |