Help simultus

MC_Halt

Application:

PLC

SIM

Short description:

Function that stops the associated axis.

Inputs (3):

no.	type	impulse	mark	notes
1	B	yes	Execute	Start the action at rising edge
2	REAL	no	Deceleration	Value of the ‘Deceleration’ [u/s^2 ]
3	REAL	no	Jerk	Value of the ‘Jerk’ [u/s^3 ]
4	INT	no	BufferMode	Defines the chronological sequence of the FB. See 2.4.2 Aborting versus Buffered modes

Outputs (4):

no.	type	impulse	mark	notes
1	B	no	Done	Zero velocity reached
2	B	no	Busy	The FB is not finished and new output values are to be expected
3	B	no	Active	Indicates that the FB has control on the axis
4	B	no	CommandAborted	‘Command’ is aborted by switching off power (only possibility to abort)
5	B	no	Error	Signals that an error has occurred within the Function Block
6	INT	no	ErrorID	Error identification

Settings:

no.	type	mark	notes
1	INT	AxisID	associated axis number

Operation description:

This Function Block commands a controlled motion stop and transfers the axis to the state ‘Stopping’. It aborts any ongoing Function Block execution. While the axis is in state ‘Stopping’, no other FB can perform any motion on the same axis. After the axis has reached ‘Velocity’ zero, the ‘Done’ output is set to TRUE immediately. The axis remains in the state ‘Stopping’ as long as ‘Execute’ is still TRUE or ‘Velocity’ zero is not yet reached. As soon as ‘Done’ is SET and ‘Execute’ is FALSE the axis goes to state ‘Standstill’.

Notes:

MC_Halt is used to stop the axis under normal operation conditions. In non-buffered mode it is possible to set another motion command during deceleration of the axis, which will abort the MC_Halt and will be executed immediately.
If this command is active the next command can be issued. E.g. a driverless vehicle detects an obstacle and needs to stop. MC_Halt is issued. Before the ‘Standstill’ is reached the obstacle is removed and the motion can be continued by setting another motion command, so the vehicle does not stop.

R registers and M markers used: none