MC_HaltCA

The function block MC_HaltCA commands a single axis to stop with Collision Avoidance.

Inputs

VAR_INPUT
    Execute               : BOOL;
    Deceleration          : MC_LREAL := MC_DEFAULT;
    Jerk                  : MC_LREAL := MC_DEFAULT;
    Gap                   : MC_LREAL := MC_DEFAULT;
    Options               : ST_HaltCAOptions;
END_VAR

Name	Type	Description
Execute	BOOL	The command is triggered by a rising edge at this input.
Deceleration	MC_LREAL	The deceleration value must be greater than or equal to 1 and is limited by the axis parameter 'Maximum Deceleration'. The input is preset with `MC_DEFAULT`. Special input values: `MC_DEFAULT` = corresponds to the value of the axis parameter 'Default Deceleration' `MC_MAXIMUM` = corresponds to the value of the axis parameter 'Maximum Deceleration'
Jerk	MC_LREAL	The jerk must be ≥100. The input is preset with `MC_DEFAULT`. Special input values: `MC_DEFAULT` = corresponds to the value of the axis parameter 'Default Jerk' `MC_MAXIMUM` = invalid
Gap	MC_LREAL	This value determines the minimum gap to the predecessor for Collision Avoidance. If no value is entered, the default value of the group is used. When using geo-compensation, special attention must be paid to the gap. Since the gap refers to the offset path when using geo-compensation, adjacent movers in the curves can collide if it is set too low.
Options	ST_HaltCAOptions	For more information about the available options (from V3.1.2.47) see the documentation for ST_HaltCAOptions.

	The axis does not stop fast enough The given deceleration could be automatically limited to the maximum axis deceleration. Check the parameters Maximum Dynamics and Default Dynamics of the axis. It is also possible that the values of Maximum Dynamics are below the Default Dynamics.

Inputs/outputs

VAR_IN_OUT
    Axis                  : AXIS_REF;
END_VAR

Name	Type	Description
Axis	AXIS_REF	Reference to an axis (see AXIS_REF).

Outputs

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

Name	Type	Description
Done	BOOL	This output becomes TRUE when the command was successfully executed.
Busy	BOOL	This output becomes TRUE when the command is started with Execute and remains so as long as the function block executes the command. If Busy becomes FALSE again, the function block is ready for a new command. At the same time one of the outputs, Done, CommandAborted or Error is set.
Active	BOOL	If Active is TRUE, the function block controls the axis.
CommandAborted	BOOL	This output becomes TRUE if the command was interrupted by another command.
Error	BOOL	This output becomes TRUE if an error has occurred during command execution.
ErrorId	UDINT	Contains the command-specific error code of the last executed command. Details of the error code can be found in the ADS error documentation or in the NC error documentation (error codes 0x4nnn and 0x8nnn).

Requirements

Development environment	Target platform	PLC libraries to include
TwinCAT V3.1.4018.26 TF5400 Advanced Motion Pack V3.1.1.17	PC or CX (x64)	Tc3_McCollisionAvoidance, Tc3_McCoordinatedMotion, Tc2_MC2

Development environment

Target platform

PLC libraries
to include

TwinCAT V3.1.4018.26

TF5400 Advanced Motion Pack V3.1.1.17

PC or CX (x64)

Tc3_McCollisionAvoidance, Tc3_McCoordinatedMotion, Tc2_MC2