FunctionMC_EStopPLCopen motion icon

Description

This function causes an emergency stop (E-stop). An E-stop stops motion interpolation, clear all moves from the queue (active and next), change the axis state to ErrorStop, and request the drive to open the position loop and disable the drive. The E-stop remains in effect until the application calls MC_ResetError to reset the E-stop.

MC_EStop

Figure 7-122: MC_EStop

Arguments

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

Input

En

Description

A positive transition of this input causes an E-stop on the specified axis

 

Data type

BOOL

 

Range

0, 1

 

Unit

N/A

 

Default

Axis

Description

Axis identifier

 

Data type

AXIS_REF

 

Range

1-256
The AXIS_NUM element of the AXIS_REF structure must be in the range [1-256]

 

Unit

N/A

 

Default

Output

OK

Description

Indicates the E-stop was executed. If an invalid Axis input was specified, this output is not energized and no E-stop is performed.

See more details here.

 

Data type

BOOL

Usage

Call MC_EStop to generate an emergency stop for an axis.

Call MC_ResetError to reset the emergency stop.

Related Functions

MC_ResetError

Example

Structured Text

(* MC_EStop STClosed"Structured text"
A high-level language that is block structured and syntactically resembles Pascal example *)
ON EStopButton DO
MC_EStop( Axis1 );
MC_EStop( Axis2 );
END_DO;

Function Block Diagram

Ladder Diagram

MC_EStop: LD example

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