MC_GroupStop
TF5410 | TF5420 | |
|---|---|---|
| MC Group with Pick-and-Place | MC Group Coordinated Motion |
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The function block stops the group and all associated axes with a defined deceleration ramp and locks the axis for motion commands. While the group is in the GroupStopping state, no other function block can move an axis of the group (see State diagrams).
The group can only be moved again once the signal Execute has been set to FALSE after the velocity is 0.
 | MC_GroupStop cancels the active coordinate transformation and deletes all jobs in the queue. |
VAR_INPUT
VAR_INPUT
Execute : BOOL;
Deceleration : MC_LREAL := MC_DEFAULT;
Jerk : MC_LREAL := MC_DEFAULT;
END_VARName | Type | Description |
|---|---|---|
Execute | BOOL | The command is triggered by a rising edge at this input. |
Deceleration | MC_LREAL | [mm/s²]. The deceleration can be programmed as a scalar value (≥1), or "Special input values" can be used. MC_DEFAULT executes the command with default axis values. MC_MAXIMUM executes the command with the maximum axis values. |
Jerk | MC_LREAL | [mm/s³]. The jerk can be programmed as a scalar value (≥100), or "Special input values" can be used. MC_DEFAULT executes the command with default axis values. MC_MAXIMUM executes the command with the maximum axis values. MC_IGNORE executes the command with unlimited jerk. |
VAR_IN_OUT
VAR_IN_OUT
AxesGroup : AXES_GROUP_REF;
END_VARName | Type | Description |
|---|---|---|
AxesGroup | AXES_GROUP_REF | Reference to a group of axes (see Cyclic group interface). |
VAR_OUTPUT
VAR_OUTPUT
Done : BOOL;
Busy : BOOL;
Active : BOOL;
CommandAborted : BOOL;
Error : BOOL;
ErrorId : UDINT;
END_VARName | Type | Description |
|---|---|---|
Done | BOOL | Becomes TRUE when the group has been stopped and has come to a standstill. The group remains in the GroupStopping state while Execute is TRUE, at least until the axes have come to a stop. The group is then in the GroupStandby state (see State diagrams). |
Busy | BOOL | Becomes TRUE when the command is started with Execute and remains so as long as the command is executed. If Busy becomes FALSE again, the group is ready for a new command. After the group is stopped, Busy remains TRUE until the group is released with Execute=FALSE. |
Active | BOOL | Indicates that the function block controls the group. After the group is stopped, Active remains TRUE until the group is released with Execute=FALSE. |
CommandAborted | BOOL | The command is aborted by deactivating MC_Power of at least one axis of the group or if the group is deactivated during the 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 |
|---|---|---|
TwinCAT V3.1.4018.26 TF5400 Advanced Motion Pack V3.1.1.17 | PC or CX (x64) | Tc3_McCoordinatedMotion, Tc2_MC2 |