MC_GroupHalt

TF5410 TwinCAT 3 Motion Collision Avoidance	TF5420 TwinCAT 3 Motion Pick-and-Place
	MC Group with Pick-and-Place	MC Group Coordinated Motion

The MC_GroupHalt function block stops a group with a defined deceleration ramp. Unlike "MC_GroupStop", the group is not locked for further motion commands. Therefore, the group can be restarted by another command during the deceleration ramp or after stopping.

WARNING

Possible delayed axis stop

If Standby Gap Control is active with a CA group and the gap is also less than the minimum, the gap is first extended before the axes can be stopped with an MC_GroupHalt.

Make sure that you actually need the behavior of Standby Gap Control; if not, consider disabling it (default setting).
Use an MC_GroupStop instead of an MC_GroupHalt if the axes need to be stopped without a delay.

Notice

MC_GroupHalt not implemented for MC group with pick-and-place

The MC_GroupHalt function block is only implemented for the MC Group Coordinated Motion and for PTP movements with Collision Avoidance (CA group). When used with another group type, the command is rejected.

	Applies to the MC_Group: MC_GroupHalt cancels the active coordinate transformation and deletes all jobs in the queue.

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.

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).

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. Once the group has come to a standstill, the group state becomes GroupStandby (see State diagrams).
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 (if available) or Error is set.
Active	BOOL	Active indicates that the command is being executed. If the command was in the queue, it becomes active as soon as an executed command is completed.
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_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_McCoordinatedMotion, Tc2_MC2