MLAxisStop

 Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Stop with the specified deceleration.
This does NOT remove the input source, but to stop the drive from continuing to move.

Inputs

Input	Data Type	Range	Unit	Default	Description
ID	DINT	No range	N/A	No default	ID Name of the Axis block.
Start	BOOL	0, 1	N/A	No default
Deceleration	LREAL	No range	User unit/sec2	No default	See Set the Axis Block Position Units for more information.

Outputs

Output	Data Type	Range	Unit	Description
Default (.Q)	BOOL			Becomes TRUE when the Axis is completely stopped. See Initialize and Start a Pipe Network for more information. See Pipe Network - General Rules for more information.
GenPos	LREAL		User units	Corresponds to the Generator Position input to the axis at the time the stop is triggered. See Axis Pipe Block for more information about Generator Position.
PipePos	LREAL		User units	Corresponds to the Pipe Position input to the axis at the time the stop is triggered. See Axis Pipe Block for more information about Pipe Position.
RealignPos	LREAL		User units	Realign Position is the Reference Position at which the stop is triggered. The Realign Position is: Obtained by converting the last value sent to the drive from drive interface units into user units. Useful to return to the point at which the trajectory was abandoned or to realign the master to the slave. See Axis Pipe Block for more information about Reference Position.
StopPos	LREAL		User units	Corresponds to the last Reference Position sent to the drive at the time when the Axis is completely stopped. See Initialize and Start a Pipe Network for more information. It is functionally different than the Actual Position because that position is the drive position converted to user units. See Axis Pipe Block for more information about Actual Position. The correct delta for the realign move to get in sync with the trajectory in order to realign the slave to the master is the current Reference Position minus the Stop Position for the realign move. See Axis Pipe Block for more information about Reference Position. After stopping, if the axis is disabled and the motor position is manually altered, this distance must be considered when performing the realign.

Remarks

• 
  

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

• After stopping the drive, the motion must be restarted by realigning the Actual Position with the Reference Position.
  • See Axis Pipe Block for more information about Actual and Reference Positions.
• When the stop occurs, the master keeps moving and the axis starts ignoring the Pipe Position value and begins a controlled stop based on the input parameters.
  See Axis Pipe Block for more information about Pipe Position.
  • At this point, any Axis Block level profile (issued from an FB like MLAxisAbs, MLAxisRel...) are aborted.
  • When the stop is complete, it is up to the application to decide how to move the axis, master, or both to a position where they can be realigned, and the master restarted.
    • See Restarting Motion with Pipe Network for more information.
• The MLAxisReAlign function is used to move the axis to a restart position in order to enable synchronized machine motion to start again.
  • Once the realign function is successfully completed, the Pipe Position is again summed with the Generator Position to create the Reference Position.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

Inst_MLAxisStop(PipeNetwork.AXIS1, bStop, 200000);
If Inst_MLAxisStop.Done Then
   Axis1_PipePosition       := Inst_MLAxisStop.PipePos;
   Axis1_GeneratorPosition  := Inst_MLAxisStop.GenPos;
   Axis1_RealignPosition    := Inst_MLAxisStop.RealignPos;
   Axis1_StopPosition       := Inst_MLAxisStop.StopPos;
End_if;

See Also

MLAxisReAlign