MC_GroupStop

MC_GroupStop 1:

TF5410
TwinCAT 3 Motion Collision Avoidance

TF5420
TwinCAT 3 Motion Pick-and-Place

 

MC Group with Pick-and-Place

MC Group Coordinated Motion

MC_GroupStop 2:

MC_GroupStop 3:
(MC_GroupStop 4: up to and including v3.2)

MC_GroupStop 5:

The function block MC_GroupStop 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 6:

MC_GroupStop cancels the active coordinate transformation and deletes all jobs in the queue.

MC_GroupStop 7: Inputs

VAR_INPUT
    Execute               : BOOL;
    Deceleration          : MC_LREAL := MC_DEFAULT;
    Jerk                  : MC_LREAL := MC_DEFAULT;
END_VAR

Name

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.

MC_GroupStop 8: Inputs/outputs

VAR_IN_OUT
   AxesGroup             : AXES_GROUP_REF;
END_VAR

Name

Type

Description

AxesGroup

AXES_GROUP_REF

Reference to a group of axes (see Cyclic Group Interface).

MC_GroupStop 9: Outputs

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

Name

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 disabling MC_Power of at least one axis of the group or if the group is disabled 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
to include

TwinCAT V3.1.4018.26

TF5400 Advanced Motion Pack V3.1.1.17

PC or CX (x64)

Tc3_McCoordinatedMotion, Tc2_MC2