MC_GrpHalt

PLCopen motion icon Pipe Network motion icon

Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Performs a controlled motion stop of all axes in the group.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	FALSE, TRUE	N/A	No default	On the rising edge The transition of a digital signal from low to high. AKA: positive edge., the command to halt all of the axes in the group is initiated.
AxesGroup	AXES_GROUP_REF	No range	N/A	No default	The axes group the axes are stopped in.
Deceleration	LREAL	0 < Deceleration	N/A	No default	The path Set of continuous positions and orientation information in multi-dimensional space. Geometrical description of a space curve that the TCP of an axesgroup moves along. deceleration rate for all axes in the group. See Limitations on Acceleration and Jerk.
Jerk	LREAL	0 ≤ Jerk	N/A	No default	Not supported. See Limitations on Acceleration and Jerk.

Outputs

Output	Data Type	Range	Unit	Description
Done	BOOL	FALSE, TRUE	N/A	If TRUE, the command completed successfully.
Busy	BOOL	FALSE, TRUE	N/A	TRUE from the moment the EXECUTE input is TRUE until the halt is complete.
Active	BOOL	FALSE, TRUE	N/A	If TRUE, the halt is still executing.
CommandAborted	BOOL	FALSE, TRUE	N/A	If TRUE, the command was aborted by another function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. block.
Error	BOOL	FALSE, TRUE	N/A	If TRUE, an error has occurred.
ErrorID	INT	-32768 to +32767	N/A	Indicates the error if Error output is TRUE. See PLCopen Function Block ErrorIDs.

Remarks

This function block starts a motion-related action and stores data for calculations and error checking.
See Call Function Blocks Multiple Times in the Same Cycle if using a dual-core controller.

MC_GrpHalt can be aborted.
When the path velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP reaches 0 (zero):
- Any queued moves are flushed from the buffer.
- The Done output is set.
- The state transitions to GroupStandby.
MC_GrpHalt does NOT prevent:
- A single axis from executing.
- Other Coordinated Motion moves from executing once MC_GrpHalt has completed.
See Differences between MC_GrpHalt and MC_GrpStop.
See Coordinated Motion, the top-level topic for Coordinated Motion.
See Function Blocks - General Rules about how inputs and outputs work.

Figure 1: MC_GrpHalt

FBD Language Example

FFLD Language Example

IL Language Example

            BEGIN_IL Instruction list - This is a low-level language and resembles assembly.
     CAL Inst_MC_GrpHalt ( EnableHalt, Group1_Ref, Deceleration, Jerk )
END_IL

ST Language Example

Inst_MC_GrpHalt ( EnableHalt, Group1_Ref, Deceleration, Jerk );