MC_Halt

MC_Halt 1:

MC_Halt stops an axis with a defined braking ramp.

In contrast to MC_Stop, the axis is not locked against further movement commands. The axis can therefore be restarted through a further command during the braking ramp or after it has come to a halt.

Travel commands can be applied to coupled slave axes, if this option was explicitly activated in the axis parameters. A motion command such as MC_Halt then automatically leads to uncoupling of the axis, after which the command is executed. In this case only Buffer-ModeAborting is possible.

Inputs


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

MC_BufferMode

Execute	The command is executed with a rising edge at input Execute.
Deceleration	Deceleration (≥0). 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 travel command. The parameterization is adjusted automatically, if necessary.
Jerk	Jerk (≥0). If the value is 0, the jerk 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 travel command. The parameterization is adjusted automatically, if necessary.
BufferMode	The BufferMode is analyzed, if the axis is already executing another command. The running command can be aborted, or the new command becomes active after the running command. The BufferMode also determines the transition condition from the current to the next command. If the command is applied to a coupled slave axis used, the only available buffer mode is Aborting. Special characteristics of MC_Halt: The MC_buffer mode has no effect, if the command is executed when the system is at a standstill. The blending modes MC_BlendingNext and MC_BlendingLow do not change the last target position, although they can result in a change in dynamics (deceleration) of the stop ramp. The modes MC_BlendingPrevious and MC_BlendingHigh extend the travel to the original target position. The stop ramp is only initiated when this position is reached (defined braking point).
Options	Currently not implemented - The data structure option includes additional, rarely required parameters. The input can normally remain open.

General rules for MC function blocks

Outputs


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

Done	The Done output becomes TRUE, if the axis was stopped and has come to a standstill.
Busy	The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the command is processed. If Busy becomes FALSE again, the function block is ready for a new job. At the same time one of the outputs, Done, CommandAborted or Error, is set.
Active	Active indicates that the command is executed If the command was queued, it becomes active once a running command is completed.
CommandAborted	Becomes TRUE, if the command could not be fully executed. The running command may have been followed by a Move command.
Error	Becomes TRUE if an error occurs.
ErrorID	If the error output is set, this parameter supplies the error number.

General rules for MC function blocks

Inputs/outputs


VAR_IN_OUT
    Axis     : AXIS_REF;
END_VAR

AXIS_REF

Axis

Axis data structure

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