MC_RampedStop_BkPlcMc
The function block cancels a movement that is currently being executed.
Inputs
VAR_INPUT
Execute: BOOL;
RampTime: LREAL; (ab/from V3.0.5)
END_VAR
Name | Type | Description |
|---|---|---|
Execute | BOOL | A rising edge at this input ends a movement being carried out by the axis. |
RampTime | LREAL | [s] The required stopping time. |
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, it 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. RampTime is used to calculate a deceleration, taking into account the reference velocity. With this deceleration, the target velocity is reduced to 0 with a pure time ramp.