ItpEStop

The function block ItpEStop 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 are smaller than the currently active dynamic parameters, the transferred parameters are rejected.

	Outdated version The sole purpose of the function block is to ensure compatibility with existing projects. For new projects please use the function block ItpEStopEx.

VAR_INPUT

VAR_INPUT
    bExecute       : BOOL;
    nGrpId         : UDINT;
    fDec           : LREAL;
    fJerk          : LREAL;
    tTimeOut       : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nGrpId: group ID

fDec: Max. deceleration during stopping. If fDec is smaller than the currently active deceleration, fDec is rejected. This ensures that the deceleration occurs with the standard ramp as a minimum.

fJerk: Max. jerk during stopping. If fJerk is smaller than the currently active jerk, fJerk is rejected.

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT

VAR_OUTPUT
    bBusy     : BOOL;
    bErr      : BOOL;
    nErrId    : UDINT;
END_VAR

bBusy: 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: 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: 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).

Requirements

Development environment	Target platform	PLC libraries to be linked
TwinCAT v3.1.0	PC or CX (x86 or x64)	Tc2_NCI