MC_Stop

This FB serves to stop the axis in a controlled way (lead to standstill). All running motion commands are aborted. For the main part, the FB is meant for emergency stop functions and exceptional situations.

In contrast to the MC_Halt commands, further motion commands during the ramp-down cannot be executed as it is ramped down in the " Stopping " state.

The " Stopping " state remains active until Execute is set to TRUE or the axis is not yet at standstill.

When Done = TRUE and Execute = FALSE, the state is changed to " Standstill ". Only now, motion commands can be executed.

		MC_Stop
AXIS_REF	-	Axis	Done	-	BOOL
BOOL	-	Execute	Busy	-	BOOL
LREAL	-	Deceleration	CommandAborted	-	BOOL
LREAL	-	Jerk	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	Maximum deceleration for ramping down to standstill [unit/s ² ] Special case : Deceleration = 0: The default value defined in subindex 41 is used for the acceleration.
Jerk LREAL	Maximum jerk for ramping down to standstill [unit/s ³ ] Special case : Jerk = 0: The default value defined in subindex 43 is used for the jerk.

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

Maximum deceleration for ramping down to standstill [unit/s ² ]

Special case :

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

Jerk

LREAL

Maximum jerk for ramping down to standstill [unit/s ³ ]

Special case :

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

Outputs

Name Data type	Value/meaning
Done BOOL	TRUE	Axis is at standstill.
Busy BOOL	TRUE	Processing is running.
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

Example 1: State change from "Stopping" to "Standstill"

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

Case

: The axis is lead to standstill with MC_Stop .

Case

: No motion commands are accepted as long as the Execute input of MC_Stop is set to TRUE. (In this case, MC_MoveVelocity reports an error.)

Example 2: Behaviour of MC_Stop in combination with MC_MoveVelocity