MC_Stop

 Function Block - Aborts the active move, removes the next move from the queue, performs a controlled stop, and switches the axis to Stopping state.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	FALSE, TRUE	N/A	No default	On the rising edge, request to stop the axis. It can be held high to prevent any other moves from being queued.
Axis	AXIS_REF	1 to 256	N/A	No default	Name of a declared instance of the AXIS_REF library function. See Axis Name and Number. See AXIS_REF Structure.
Deceleration	LREAL	No range	User unit/sec2	No default	Trapezoidal: Deceleration rate. S-curve: Unused. See S-curve and Trapezoidal Acceleration / Deceleration.
Jerk	LREAL	No range	User unit/sec3	No default	Trapezoidal: 0 (zero). S-curve: Constant jerk. See S-curve and Trapezoidal Acceleration / Deceleration.

Outputs

Output	Data Type	Range	Unit	Description
Done	BOOL	FALSE, TRUE	N/A	Indicates both: The axis has reached zero velocity. The Execute input is low.
Busy	BOOL	FALSE, TRUE	N/A	High from the time both: The Execute input goes high until the axis reaches zero velocity. The Execute input is low.
Active	BOOL	FALSE, TRUE	N/A	High from the time both: The MC_Stop move becomes the active move until the axis reaches zero velocity. The Execute input is low.
Error	BOOL	FALSE, TRUE	N/A	Indicates an invalid input was specified.
ErrorID	INT			Indicates the error if the Error output is set to 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.

• See Function Blocks - General Rules about how inputs and outputs work.
• An MC_Stop cannot be aborted.
  • This means that, while in Stopping state, no function block can command any motion on the axis.
  • The axis remains in Stopping state until it reaches zero velocity and the Execute input is low.
• The application program can hold the axis in Stopping state even after it reaches zero velocity by leaving the Execute input high.
• It aborts any ongoing function block execution.
• When the Done output is set, the state transfers to StandStill.
• While the axis is in Stopping state, no other FB can perform any motion on the same axis.

Figure 1: MC_Stop

Time Diagram

This example shows the behavior of the combination of a MC_Stop FB with a MC_MoveVelocity.

• A rotating axis is ramped down with FB2 MC_Stop
• The axis rejects motion commands as long as MC_Stop parameter “Execute” = TRUE

FB1 MC_MoveVelocity reports an error indicating the busy MC_Stop command.

Figure 2: Time Diagrams: First and Second FBs

Figure 3: Time Diagram

FBD Language Example

Not available.

FFLD Language Example

IL Language Example

Not available.

ST Language Example

            (* MC_Stop S
            T example *)

Inst_MC_Stop( StopRequest , Axis1, 100.0, 100.0 ); //Inst_MC_Stop is an instance of MC_Stop function block


StopComplete := Inst_MC_Stop.Done;     //store the Done output into a user defined variable

StopActive := Inst_MC_Stop.Active;     //store the Active output into a user defined variable

StopError := Inst_MC_Stop.Error;       //store the Error output into a user defined variable