Function BlockMC_HaltPLCopen motion icon

Description

This function block decelerates an axis to zero velocity. It is a queued single-axis move. The move is complete when the axis reaches zero velocity. It is typically used with Abort at the BufferMode input to terminate a move. To execute a stop that cannot be aborted, see MC_Stop.

MC_Halt

Figure 7-137: MC_Halt

Time Diagram

The example below shows the behavior in combination with a MC_MoveVelocity.

  • A rotating axis is ramped down with FB2 MC_Halt
  • Another motion command overrides the MC_Halt command

MC_Halt allows this, in contrast to MC_Stop. The axis can accelerate again without reaching standstill.

MC_Halt: Timing Diagram

Arguments

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

Input

Execute

Description

Requests to queue the move

 

Data type

BOOL

 

Range

0, 1

 

Unit

N/A

 

Default

Axis

Description

Name of a declared instance of the AXIS_REF library function (for more details, About Axis Name and Number)

 

Data type

AXIS_REF

 

Range

[1,256]

 

Unit

N/A

 

Default

Deceleration

Description

Trapezoidal: Deceleration rate

S-curve: Maximum deceleration

 

Data type

LREAL

 

Range

 

Unit

User unit/sec2

 

Default

JerkClosedIn physics, jerk is the rate of change of acceleration; more precisely, the derivative of acceleration with respect to time

Description

Trapezoidal: 0

S-curve: Constant jerkClosedIn physics, jerk is the rate of change of acceleration; more precisely, the derivative of acceleration with respect to time

 

Data type

LREAL

 

Range

 

Unit

User unit/sec3

 

Default

BufferMode

Description

0 = abort

1 = buffer

2 = blend to active

3 = blend to next

4 = blend to low velocity

5 = blend to high velocity

See table in Buffer Modes

 

Data type

SINT

 

Range

[0,5]

 

Unit

N/A

 

Default

Output

Done

Description

Indicates the move completed successfully.
The Command Position has reached the endpoint.

 

Data type

BOOL

Busy

Description

High from the moment the Execute input is one-shot to the time the move is ended

 

Data type

BOOL

Active

Description

Indicates this move is the active move

 

Data type

BOOL

CommandAborted

Description

Indicates this move was aborted

 

Data type

BOOL

Error

Description

Indicates an invalid input was specified or the move was terminated due to an error

 

Data type

BOOL

ErrorID

Description

Indicates the error if Error output is set to TRUE

See table in PLCopen Function Block ErrorID Output

 

Data type

INT

Example

Structured Text

 

(* MC_Halt ST example *)

Inst_MC_Halt( HaltReq, Axis1,100.0, 100.0, 0 );

//Inst_MC_Halt is an instance of MC_halt function block

HaltComplete := Inst_MC_Halt.Done; //store Done output into user defined variable

 

See also how this function is used in the Hole punch project here

 

Ladder Diagram

MC_Halt: LD example

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