MC_GrpHalt

 Function Block - Performs a controlled motion stop of all axes in the group.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	FALSE, TRUE	N/A	No default	On the rising edge, the command to halt all of the axes in the group is initiated.
AxesGroup	AXES_GROUP_REF	No range	N/A	No default	The axes group the axes are stopped in.
Deceleration	LREAL	No range	User unit/sec2	No default	The path deceleration rate for all axes in the group. If Deceleration is 0 or negative, the deceleration parameter of the active move is used. If Deceleration is less than the deceleration of the active move, the deceleration parameter of the active move is used. This guarantees the stop action completes before the endpoint of the move is reached. See Limitations on Acceleration and Jerk.
Jerk	LREAL	No range	User unit/sec3	No default	The path jerk for all axes in the group. If Jerk is negative, the jerk parameter of the active move is used. If Jerk is zero, then zero jerk is used. If Jerk is less than the jerk of the active move, the jerk parameter of the active move is used. This guarantees the stop action completes before the endpoint of the move is reached. See Limitations on Acceleration and Jerk.

Outputs

Output	Data Type	Range	Unit	Description
Done	BOOL	FALSE, TRUE	N/A	If TRUE, the command completed successfully.
Busy	BOOL	FALSE, TRUE	N/A	TRUE from the moment the EXECUTE input is TRUE until the halt is complete.
Active	BOOL	FALSE, TRUE	N/A	If TRUE, the halt is still executing.
CommandAborted	BOOL	FALSE, TRUE	N/A	If TRUE, the command was aborted by another function block.
Error	BOOL	FALSE, TRUE	N/A	If TRUE, an error has occurred.
ErrorID	INT	Enumerated	N/A	Indicates the error if Error output is TRUE. See PLCopen Function Block ErrorIDs.

Remarks

• 
  
• This function block starts a motion-related action and stores data for calculations and error checking.
  If using a dual-core controller, see Call Function Blocks Multiple Times in the Same Cycle.

• MC_GrpHalt can be aborted.
• When the path velocity reaches 0 (zero):
  • Any queued moves are flushed from the buffer.
  • The Done output is set.
  • The state transitions to GroupStandby.
• MC_GrpHalt does NOT prevent:
  • A single axis from executing.
  • Other Coordinated Motion moves from executing once MC_GrpHalt has completed.
• See What MC_GrpHalt Does.
• See Differences between MC_GrpHalt and MC_GrpStop.
• See Coordinated Motion, the top-level topic for Coordinated Motion.
• See Function Blocks - General Rules about how inputs and outputs work.

Figure 1: MC_GrpHalt

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

Inst_MC_GrpHalt ( EnableHalt, Group1_Ref, Deceleration, Jerk );

See Also

• MC_ErrorDescription
• MC_GrpStop