Function BlockMC_GrpHaltPLCopen motion iconPipe Network motion icon

Description

MC_GrpHalt performs a controlled motion stop of all the axes in the group. When the path velocity reaches zero any queued moves are flushed from the buffer, the Done output is set, and the state transitions to GroupStandby. Unlike MC_GrpStop, MC_GrpHalt can be aborted.


  • MC_GrpHalt does NOT prevent a single axis from executing nor does it prevent other Coordinated Motion moves from executing once MC_GrpHalt has completed.

Related Functions

MC_GrpStop, MC_ErrorDescription

Coordinated Motion, the top-level topic for Coordinated Motion.

Arguments

For more details on how inputs and outputs work, refer to PLCopen Function Blocks - General Rules.

Input

Execute Description On the rising edgeClosed A rising edge is the transition of a digital signal from low to high. It is also called positive edge the command to halt all of the axes in the group is initiated.
  Data type BOOL
  Range 0, 1
  Unit N/A
  Default
AxesGroup Description The axes group in which the axes will be stopped.
  Data type AXES_GROUP_REF
  Range N/A
  Unit N/A
  Default
Deceleration Description The path deceleration rate for all of the axes in the group
  Data type LREAL
  Range

0 < Deceleration

See Limitations on Acceleration and Jerk for more information.

  Unit N/A
  Default
Jerk Description Not supported
  Data type LREAL
  Range

0 ≤ Jerk

See Limitations on Acceleration and Jerk for more information.

  Unit N/A
  Default

Output

Done Description If True, then the command completed successfully.
  Data type BOOL
Busy Description TRUE from the moment the EXECUTE input is TRUE until the time the halt is completed.
  Data type BOOL
Active Description Indicates that the halt is still executing.
  Data type BOOL
CommandAborted Description If True, command was aborted by another FB.
  Data type BOOL
Error Description IIf True, an error has occurred.
  Data type BOOL
ErrorID Description Indicates the error identifier if Error output is set to TRUE.. See table in PLCopen Function Block ErrorID Output.
  Data type INT

Example

Structured Text

Inst_MC_GrpHalt ( EnableHalt, Group1_Ref, Deceleration, Jerk );

IL

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

FBD

FFLD

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