MC_Halt

This FB serves to stop the axis in a controlled way (lead to standstill).

In contrast to the MC_Stop command, the interruption by another motion command while ramping down is possible as ramping down is done in the " DiscreteMotion " state.

When Done = TRUE, the state changes to " Standstill ".

		MC_Halt
AXIS_REF	-	Axis	Done	-	BOOL
BOOL	-	Execute	Busy	-	BOOL
LREAL	-	Deceleration	Active	-	BOOL
LREAL	-	Jerk	CommandAborted	-	BOOL
MC_BUFFER_MODE	-	BufferMode	Error	-	BOOL
			ErrorID	-	L_IE1P_Error

Inputs

Name Data type	Information/possible settings
Axis AXIS_REF	Transfer of the axis data structure Motion axes (AXIS_REF)
Execute BOOL	FALSE ä TRUE	Lead axis to standstill.
Deceleration LREAL	Deceleration in [unit/s ² ] for ramping down to standstill. Special case : Deceleration = 0: The default value defined in subindex 41 is used for the acceleration.
Jerk LREAL	Jerk in [unit/s ³ ] for ramping down to standstill. Special case : Jerk = 0: The default value defined in subindex 43 is used for the jerk.
BufferMode MC_BUFFER_MODE	Mode for processing successive motion commands BufferMode

Name

Data type

Information/possible settings

Axis

AXIS_REF

Transfer of the axis data structure

Motion axes (AXIS_REF)

Execute

BOOL

FALSE ä TRUE

Lead axis to standstill.

Deceleration

LREAL

Deceleration in [unit/s ² ] for ramping down to standstill.

Special case :

Deceleration = 0: The default value defined in subindex 41 is used for the acceleration.

Jerk

LREAL

Jerk in [unit/s ³ ] for ramping down to standstill.

Special case :

Jerk = 0: The default value defined in subindex 43 is used for the jerk.

BufferMode

MC_BUFFER_MODE

Mode for processing successive motion commands

BufferMode

Outputs

Name Data type	Value/meaning
Done BOOL	TRUE	Axis is at standstill.
Busy BOOL	TRUE	Processing is running.
Active BOOL	TRUE	The command of the FB is currently executed. The Active output matters if a motion control is carried out by several FBs (BufferMode).
CommandAborted BOOL	TRUE	The command was aborted by another FB.
Error BOOL	TRUE	An error has occurred. For details see ErrorID .
ErrorID L_IE1P_Error	If Error = TRUE: Error number for the error that has occurred.

The following example shows the behaviour of MC_Halt in combination with the motion command MC_MoveVelocity :

Case

: The axis is lead to standstill with MC_Halt .

Case

: A renewed start of MC_MoveVelocity aborts the active execution of MC_Halt and thus the ramping down.

Example: Behaviour of MC_Halt in combination with MC_MoveVelocity