MC_Halt

The function block MC_Halt stops an axis with a defined deceleration ramp.

In contrast to MC_Stop, the axis is not locked against further movement commands. The axis can therefore be started by another command after the stop.

Inputs

VAR_INPUT
    Execute      : BOOL; 
    Deceleration : LREAL; 
    Options      : ST_MoveOptions; 
END_VAR

Name	Type	Description
Execute	BOOL	The command is executed with a rising edge.
Deceleration	LREAL	Deceleration If the value is ≤ 0, the deceleration parameterized with the last Move command is used. For safety reasons MC_Halt and MC_Stop cannot be executed with weaker dynamics than the currently active motion command. The parameterization is adjusted automatically, if necessary.
Options	ST_MoveOptions	Data structure (ST_MoveOptions), which contains additional, rarely required parameters. The input can normally remain unused.

	See also: General rules for MC function blocks.

Inputs/outputs

VAR_IN_OUT
    Axis : AXIS_REF;
END_VAR

Name	Type	Description
Axis	AXIS_REF	Axis data structure that unambiguously addresses an axis in 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 the axis has been stopped and is stationary.
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	Becomes TRUE, if the command could not be fully executed. The running command may have been followed by a Move command.
Error	BOOL	TRUE, if an error occurs.
ErrorID	UDINT	If the error output is set, this parameter supplies the error number.

	See also: General rules for MC function blocks.

Requirements

Development environment	PLC libraries to include
TwinCAT 3.1.4024.11	Tc3_DriveMotionControl