MC_GroupStop

This FB serves to stop the axes group 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.

  • Further motion commands cannot be executed during the ramp-down as it is ramped down in the "Group Stopping " state.
  • The "Group Stopping " state remains active until Execute is set to TRUE or the axes group is not yet at standstill.
  • When Done = TRUE and Execute = FALSE, the state is changed to " GroupStandby ". Only now, motion commands can be executed.
  • If this command is used to abort an active MoveDirect... command, the axis data (AXIS_REF) of the prevailing axis are used and not the specifications for this FB for the parameters Deceleration and Jerk .
  • If the programmed limitations prevent a braking within the motion segment, the deceleration process is continued in the following segment.
  • In order to prevent the programmed target position to be overtravelled, the input parameters Deceleration and Jerk for Cartesian motions (CP) are only considered if the specified values are higher than the currently interpolated path.
  • Auxiliary axes are stopped irrespective of the motion of other axes. When the MC_GroupStop is called, the coupling of the two motions is deactivated. Moreover, the coupling to synchronised master axes (e.g. MC_TrackConveyorBelt ) is deactivated.

 

 

 

MC_GroupStop

 

 

 

AXES_GROUP_REF

-

AxesGroup

Done

-

BOOL

BOOL

-

Execute

Busy

-

BOOL

LREAL

-

Deceleration

Active

-

BOOL

LREAL

-

Jerk

CommandAborted

-

BOOL

Error

-

BOOL

ErrorID

-

L_IE1P_Error

 

 

 

 

 

 

 

 
Inputs

Name

Data type

Information/possible settings

AxesGroup

AXES_GROUP_REF

axes group reference

Execute

BOOL

FALSE รค TRUE

Brake axes group to standstill.

  • The relevant axes remain on the path.

Deceleration

LREAL

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

Jerk

LREAL

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

Outputs

Name

Data type

Value/meaning

Done

BOOL

TRUE

axes group 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 has been aborted.

Possible causes:

  • Axis group has been disabled or
  • Axis group has changed to the error status.

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.

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