MC_GroupInterrupt
FUNCTION_BLOCK MC_GroupInterrupt
This function block commands a controlled stop of the robot along the commanded trajectory. The robot power remains enabled.When velocity zero is reached the DONE output set.Unlike MC_GroupStop, all commanded movements are not cancelled, this means the robot can continue its trajectory as soon as MC_GroupContinue is executed.At the interrupted FB the output CommandAborted will not be set, Busy is still high and Active is reset.
Syntax
Definition:
FUNCTION_BLOCK MC_GroupInterrupt
VAR_INPUT
Execute : BOOL := FALSE;
END_VAR
VAR_OUTPUT
Busy : BOOL := FALSE;
Done : BOOL := FALSE;
Error : BOOL := FALSE;
ErrorID : UDINT := 0;
END_VAR
VAR_IN_OUT
AxesGroup : T_StaeubliRobot;
END_VAR
Inputs
|
Name |
Type |
Description |
|---|---|---|
|
Execute |
BOOL |
Rising edge starts function execution |
Outputs
|
Name |
Type |
Description |
|---|---|---|
|
Busy |
BOOL |
Set when function block is executing. Reset when Done or Error is set |
|
Done |
BOOL |
This output is set when function block has terminated with success |
|
Error |
BOOL |
This output is set when function block has terminated with error |
|
ErrorID |
UDINT |
Error code |