Function Block
A function block groups an algorithm and a set of private data. It has inputs and outputs. - Performs a controlled motion stop of all axes in the group.
Inputs
|
Input |
Data Type |
Range |
Unit |
Default |
Description |
|---|---|---|---|---|---|
|
Execute |
BOOL |
0, 1 |
N/A |
No default |
On the rising edge |
|
AxesGroup |
No range |
N/A |
No default |
The axes group the axes are stopped in. |
|
|
Deceleration |
LREAL |
0 < Deceleration |
N/A |
No default |
The path deceleration rate for all axes in the group. See Limitations on Acceleration and Jerk for more information. |
|
Jerk |
LREAL |
0 ≤ Jerk |
N/A |
No default |
Not supported. See Limitations on Acceleration and Jerk for more information. |
Outputs
|
Output |
Data Type |
Range |
Unit |
Description |
|---|---|---|---|---|
|
Done |
BOOL |
|
|
If TRUE, the command completed successfully. |
|
Busy |
BOOL |
|
|
TRUE from the moment the EXECUTE input is TRUE until the stop is complete. |
|
Active |
BOOL |
|
|
If TRUE, the stop is still executing. |
|
Error |
BOOL |
|
|
If TRUE, an error has occurred. |
|
ErrorID |
INT |
|
|
Indicates the error if Error output is TRUE. See the table in PLCopen Function Block ErrorIDs. |
Remarks
-
- MC_GrpStop can not be aborted.
-
- This function block starts a motion-related action and stores data for calculations and error checking.
See Call Function Blocks Multiple Times in the Same Cycle if using a dual-core controller.
- See Coordinated Motion, the top-level topic for Coordinated Motion.
- See Function Blocks - General Rules for more information about how inputs and outputs work.
- When the path velocity reaches 0 (zero), any queued moves are flushed from the buffer and the Done output is set.
- When both the Done output is TRUE and the application has cleared, the Execute input the state transitions to GroupStandby.
- MC_GrpStop does NOT prevent:
- A single axis from executing.
- Other Coordinated Motion moves from executing once MC_GrpStop has completed.
Figure 6-123: MC_GrpStop
FBD Language Example
FFLD Language Example
IL Language Example
BEGIN_IL "Instruction List"
This is a low-level language and resembles assembly
CAL Inst_MC_GrpStop ( EnableStop, Group1_Ref, Deceleration, Jerk )
END_IL
ST Language Example
Inst_MC_GrpStop ( EnableStop, Group1_Ref, Deceleration, Jerk );
