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 edge 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_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

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