MLAxisStop

 Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Stop with the specified deceleration.
This does NOT remove the input source, but to stop the drive In electrical engineering, a drive is an electronic device to provide power to a motor or servo. Control device for regulating the speed, torque and position of a motor. A unit controlling a motor using the current and timing in its coils. from continuing to move.

• This 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. stops any current Generator Motion.
• It causes the axis to start ignoring any changes in Pipe position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different. to be added into the reference position.
• It decelerates, if moving, at a programmed The act of performing a sequence of instructions or commands. rate.

Inputs

Input	Data Type	Range	Unit	Default	Description
ID	DINT	No range	N/A	No default	ID Name of the Axis block.
Start	BOOL	FALSE, TRUE	N/A	No default
Deceleration	LREAL	No range	User unit/sec2	No default	See Set the Axis Block Position Units.

Outputs

Output	Data Type	Range	Unit	Description
Default (.Q)	BOOL	FALSE, TRUE	N/A	Becomes TRUE when the Axis is completely stopped. See Initialize and Start a Pipe Network. See Pipe Network - General Rules.
GenPos	LREAL		User units	Corresponds to the Generator Position input to the axis at the time the stop is triggered. See Axis Pipe Block about positions.
PipePos	LREAL		User units	Corresponds to the Pipe Position input to the axis at the time the stop is triggered. See Axis Pipe Block about positions.
RealignPos	LREAL		User units	Realign Position is the Reference Position at which the stop is triggered. The Realign Position is: Obtained by converting the last value sent to the drive from drive interface units into user units. Useful to return to the point at which the trajectory Time dependent description of the path the TCP of an axes group moves along. Additional to the geometrical description of the space curve, time dependent state variables like velocity, acceleration, jerk, forces etc. are specified. was abandoned or to realign the master to the slave. See Axis Pipe Block about positions.
StopPos	LREAL		User units	Corresponds to the last Reference Position sent to the drive at the time when the Axis is completely stopped. See Initialize and Start a Pipe Network. It is functionally different than the Actual Position because that position is the drive position converted to user units. See Axis Pipe Block about positions. The correct delta for the realign move to get in sync with the trajectory in order to realign the slave to the master is the current Reference Position minus the Stop Position for the realign move. See Axis Pipe Block about positions. After stopping, if the axis is disabled Removal of the ENABLE signal. Disables power stage. and the motor An actuator focused to a movement, converting electrical energy in a force or torque. position is manually altered, this distance must be considered when performing the realign.

Remarks

• 
  

• This function or function block returns cached data.
  See Program a Multi-Core Controller.

• After stopping the drive, the motion must be restarted by realigning the Actual Position with the Reference Position.
  • See Axis Pipe Block about positions.
• When the stop occurs, the master keeps moving and the axis starts ignoring the Pipe Position value and begins a controlled stop based on the input parameters.
  See Axis Pipe Block for more information about Pipe Position.
  • At this point, any Axis Block level profile (issued from an FB like MLAxisAbs, MLAxisRel...) are aborted.
  • When the stop is complete, it is up to the application to decide how to move the axis, master, or both to a position where they can be realigned, and the master restarted.
    • See Restarting Motion with Pipe Network.
• The MLAxisReAlign function is used to move the axis to a restart position in order to enable Enable signal for the drive, Hardware-Enable with 24V signal to X8, Software-Enable command by setup Software, fieldbus or permanently set. Both are required for enabling the drive. synchronized Combines an axis or axes group (as slave) with an axis as master. The slave executes its path with synchronization to the progress of the master. This is linked to a one dimension source for synchronization. machine The complete assembly of all connected parts or devices, of which at least one is movable. motion to start again.
  • Once the realign function is successfully completed, the Pipe Position is again summed with the Generator Position to create the Reference Position.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

Inst_MLAxisStop(PipeNetwork.AXIS1, bStop, 200000);
If Inst_MLAxisStop.Done Then
   Axis1_PipePosition       := Inst_MLAxisStop.PipePos;
   Axis1_GeneratorPosition  := Inst_MLAxisStop.GenPos;
   Axis1_RealignPosition    := Inst_MLAxisStop.RealignPos;
   Axis1_StopPosition       := Inst_MLAxisStop.StopPos;
End_if;

See Also

MLAxisReAlign