MC_EStop

 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).

Inputs

Input	Data Type	Range	Unit	Default	Description
En	BOOL	0, 1	N/A	No default	A positive transition of this input causes an E-stop on the specified axis.
Axis	AXIS_REF	1, 256	N/A	No default	The AXIS_NUM element of the AXIS_REF structure. See Axis Name and Number for more information. See AXIS_REF Structure for more information.

Outputs

Output	Data Type	Range	Unit	Description
OK	BOOL	No range	N/A	Indicates the E-stop was executed. If an invalid Axis input was specified, this output is not energized and no E-stop is performed.

Remarks

• 
  

• This function or function block returns cached data.
  See Program a Multi-Core Controller for more information.

• See Function Blocks - General Rules for more information about how inputs and outputs work.
• Call MC_EStop to generate an emergency stop for an axis.
• Call MC_ResetError to reset the emergency stop.
• Actions of an E-stop:
  • Stops motion interpolation.
  • Clears all moves from the queue (active and next).
  • Changes the axis state to ErrorStop.
    • See PLCopen State Machine for more information.
  • 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.

Figure 6-205: MC_EStop

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

(* 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;

See Also

MC_ResetError