Estop

This Corefunction is used to trigger an emergency stop operation. It will use the maximum dynamic parameters that are allowed for this axis by the underlying motion technology.

Syntax:

FUNCTION_BLOCK FB_Estop EXTENDS FB_CorefunctionFeedback

Properties

Name	Type	Access	Description
InitState	BOOL	Get, Set	The core function is not completely and successfully initialized.
FB_Estop
NoCreeping	BOOL	Get, Set	A TRUE in this property avoids the creep phase at the end of the stopping process of a hydraulic axis.
FB_CorefunctionFeedback
AbortedState	BOOL	Get, Set	Signals the abort of a command by another Corefunction.
BusyState	BOOL	Get, Set	Signals the active execution of a command.
DoneState	BOOL	Get, Set	Signals the successful execution of a command.
IdleState	BOOL	Get, Set	The Corefunction is ready for operation and commandable.
IsCommanded	BOOL	Get	Signals the pending of a command.
FB_Corefunction
FailedState	BOOL	Get, Set	If IsActivated is TRUE at the same time: Signals the failure of an accepted command. If IsActivated is FALSE at the same time: Signals the rejection of a command.
HasFeedback	BOOL	Get	The core function has responded to a pending command.
IsActivated	BOOL	Get	The core function has an accepted command pending.
IsLocalCmd	BOOL	Get	Signals that the axis is assigned with a command of this core function.
ReadyState	BOOL	Get, Set	The Corefunction is ready for operation, but is not commandable at this time. Possible reasons are: - The axis is not enabled. - Another Corefunction is active. - The Corefunction does not support any commands.

Methods

Name	Description
[`INTERN`] Cyclic()	This method is called cyclically by the axis.
FB_Estop
DoEstop()	A rising edge triggers the stop.

Interfaces

Type	Description
I_Corefunction	Standard interface on FB_Corefunction.
I_Estop	Standard interface on FB_Estop.
I_CorefunctionFeedback	Standard interface on FB_CorefunctionFeedback.

Example:

// Execute estop on pressing the emergency stop button
IF bEmergencyStopPressed THEN
    
    iAxisBase.Estop.DoEstop(TRUE);
    
// revert command
ELSIF iAxisBase.Estop.IsCommanded THEN
        
    iAxisBase.Estop.DoEstop(FALSE);

END_IF

Requirements

Development environment	Target platform	PLC libraries to include
TwinCAT v3.1.4024.35	PC or CX (x64, x86)	Tc3_PlasticFunctions v3.12.4.26 or higher

Further Information

DoEstop