MC_EStop

PLCopen motion icon

Function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. - 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 7-120: MC_EStop

This function or function block returns cached data.
See Programming a Dual Core Controller for more information.

Arguments

See Function Blocks - General Rules for more information about how inputs and outputs work.

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

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 Function - General Rules for more information.

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 ST "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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