ccpMC_GrpStop

PLCopen motion icon Pipe Network motion icon

 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 stop 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 stop is complete.

Active

BOOL

FALSE, TRUE

N/A

If TRUE, the stop is still executing.

Error

BOOL

FALSE, TRUE

N/A

If TRUE, an error has occurred.

ErrorID

INT

-32768 to +32767

N/A

Indicates the error if Error output is TRUE.

See PLCopen Function Block ErrorIDs.

Remarks


  • MC_GrpStop can not be aborted.
  • When the path velocity reaches 0 (zero):
    • Any queued moves are flushed from the buffer.
    • The Done output is set.
  • When the Done output is TRUE and the application has cleared, the Execute input state transitions to GroupStandby.
  • MC_GrpStop does NOT prevent:
    • A single axis from executing.
    • Other Coordinated Motion moves from executing once MC_GrpStop has completed.
  • See What MC_GrpStop 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_GrpStop

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

Inst_MC_GrpStop ( EnableStop, Group1_Ref, Deceleration, Jerk );

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