MC_GrpHalt
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.
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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.
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- This function block starts a motion-related action and therefore stores data for calculations and error checking. Please see Calling Function Blocks Multiple Times in the Same Cycle if you are using a dual-core controller.
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 edgeA 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. |
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Unit | N/A | |
Default | — | |
Jerk | Description | Not supported |
Data type | LREAL | |
Range |
0 ≤ Jerk See Limitations on Acceleration and Jerk for more information. |
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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_IL"Instruction list" This is a low-level language and resembles assembly CAL Inst_MC_GrpHalt ( EnableHalt, Group1_Ref, Deceleration, Jerk ) END_IL
FBD
FFLD