MC_EStop

PLCopen motion icon

Function - Causes an emergency stop (E-stop).

Inputs

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

Input

Data Type

Range

Unit

Default

Description

BOOL

FALSE, TRUE

N/A

No default

A positive transition of this input causes an E-stop on the specified axis.

Axis

AXIS_REF

1 to 256

N/A

No default

The AXIS_NUM element of the AXIS_REF structure.

Output	Data Type	Range	Unit	Description
OK	BOOL	FALSE, TRUE	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.

This function or function block returns cached data.
See Program a Multi-Core Controller.

See Function Blocks - General Rules 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 1: MC_EStop

Not available.

(* MC_EStop ST example *)
ON EStopButton DO
MC_EStop( Axis1 );
MC_EStop( Axis2 );
END_DO;