MC_OrientedStop
The function block MC_OrientedStop is used to affect an "oriented" axis stop at the specified modulo position. Depending on the speed and the dynamic parameters of the axis, it will stop at the next possible oriented position. The stopping distance compared to a standard stop may be up to one modulo period longer.
Note: The error output must be analysed, because under certain conditions an oriented stop is not possible. For example, a standard stop may have been triggered just before, or an oriented stop would cause an active software limit switch to be exceeded. For all fault conditions, the axis is stopped safely, but it may subsequently not be at the required oriented position.
VAR_INPUT
VAR_INPUT
Execute : BOOL;
Position : LREAL;
Deceleration : LREAL;
Jerk : LREAL;
END_VAR
Execute : The command is executed with rising edge.
Position: Absolute modulo destination position at which the axis should stop.
The position must be in the range [0 ≤ position < modulo period]. With a modulo period of 360 degrees, for example, 360 is therefore not a valid position. A value of 0 has to be specified instead.
Deceleration : Deceleration during brake travel. This input is currently not supported. The deceleration specified at the start of the axis is used for stopping.
Jerk: Jerk during brake travel. This input is currently not supported. The jerk specified at the start of the axis is used for stopping.
VAR_OUTPUT
VAR_OUTPUT
Done : BOOL;
Busy : BOOL;
Error : BOOL;
ErrorID : UDINT;
END_VAR
Done : Becomes TRUE, once axis has finished its job and stands still.
Busy : Becomes TRUE, as soon as the block is active. Busy becomes TRUE with a rising edge at Execute and becomes FALSE again after the block finished or aborted its operation. A rising edge at Execute will then be accepted.
Error: Becomes TRUE, as soon as an error occurs.
ErrorID : Supplies the error number when the Error output is set.
VAR_IN_OUT
VAR_IN_OUT
Axis : NCTOPLC_AXLESTRUCT;
END_VAR
Axis : Axis structure.
Requirements
Development environment | Target system type | PLC libraries to be linked |
|---|---|---|
TwinCAT v2.9 from build 1003 | PC (i386) | TcMC.Lib |