MC_GroupHalt
TF5410 | TF5420 | |
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| 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.
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Possible delayed axis stop If Standby
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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. |
VAR_INPUT
VAR_INPUT
Execute : BOOL;
Deceleration : MC_LREAL := MC_DEFAULT;
Jerk : MC_LREAL := MC_DEFAULT;
END_VAR
Name | Type | Description |
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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_VAR
Name | Type | Description |
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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_VAR
Name | Type | Description |
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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 |
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TwinCAT V3.1.4018.26 TF5400 Advanced Motion Pack V3.1.1.17 | PC or CX (x64) | Tc3_McCoordinatedMotion, Tc2_MC2 |