ItpEStopEx
The function block ItpEStopEx triggers the NCI EStop and enables a controlled stop on the path. The limit values for the deceleration and the jerk are transferred as parameters. If these should be smaller than the currently active dynamic parameters, the transferring parameters are rejected.
Inputs
VAR_INPUT
bExecute : BOOL;
fDec : LREAL;
fJerk : LREAL;
tTimeOut : TIME;
END_VARName | Type | Description |
|---|---|---|
bExecute | BOOL | The command is triggered by a rising edge at this input. |
fDec | LREAL | Max. deceleration during stopping. If fDec is smaller than the currently active deceleration, fDec is rejected. This ensures that the deceleration occurs at least with the standard ramp. |
fJerk | LREAL | Max. jerk during stopping. If fJerk is smaller than the currently active jerk, fJerk is rejected. |
tTimeOut | TIME | ADS Timeout-Delay |
/
Inputs/Outputs
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR Name | Type | Description |
|---|---|---|
sNciToPlc | NCTOPLC_NCICHANNEL_REF | The structure of the cyclic channel interface from the NCI to the PLC. This structure is read-only (type: NCTOPLC_NCICHANNEL_REF). |
Outputs
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR Name | Type | Description |
|---|---|---|
bBusy | BOOL | This output remains TRUE until the function block has executed a command, but at the longest for the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored. |
bErr | BOOL | This output is switched to TRUE as soon as an error occurs during the execution of a command. The command-specific error code is contained in 'nErrId'. Is reset to FALSE by the execution of a command at the inputs. |
nErrId | UDINT | Contains the command-specific error code of the most recently executed command. Is reset to 0 by the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error documentation or in the NC error documentation (error codes above 0x4000). |
See also ItpStepOnAfterEStopEx.
Requirements
|
Development environment |
Target platform |
PLC libraries to be linked |
|---|---|---|
|
TwinCAT v3.1.0 |
PC or CX (x86 or x64) |
Tc2_NCI |