MC_ImediateStop_BkPlcMc (from V3.0.5)

The function block cancels a current axis motion.

Inputs

VAR_INPUT
    Execute:        BOOL;
END_VAR

Name	Type	Description
Execute	BOOL	A rising edge at this input ends a movement being carried out by the axis.

Inputs/outputs

VAR_INOUT
    Axis:           Axis_Ref_BkPlcMc;
END_VAR

Name	Type	Description
Axis	Axis_Ref_BkPlcMc	Here, the address of a variable of type Axis_Ref_BkPlcMc should be transferred.

Outputs

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

Name	Type	Description
Busy	BOOL	Indicates that a command is being processed.
Done	BOOL	This indicates successful processing of the operation.
Error	BOOL	The occurrence of an error is indicated here.
ErrorID	UDINT	An encoded indication of the cause of the error is provided here.
Active	BOOL	Indicates that a command is being processed.
CommandAborted	BOOL	Indicates that processing of this command was aborted by another command.

Behavior of the function block

On a rising edge at Execute the function block checks the transferred axis interface. A number of problems can be detected and reported during this process:

The stop can only be executed if the axis is actively carrying out a movement. If it is stationary, the function block immediately asserts the Done signal.
If the axis is already in an error state, or if it is in the process of carrying out a stop operation, the system responds with Error and ErrorID:=dwTcHydErrCdNotReady.
If the axis is in a state, in which it is controlled by a coupling with another axis or a comparable mechanism, it responds with Error and ErrorID:=dwTcHydErrCdNotReady.

The Stop operation begins if these checks can be carried out without problems. The control value of the axis is immediately set to 0, without any ramp. All outputs of control or regulation voltages are then suppressed, as long as Execute is set to TRUE.