MC_Stop
|
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 ] |
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 | CommandAborted | ‘Command’ is aborted by switching off power (only possibility to abort) |
| 4 | B | no | Error | Signals that an error has occurred within the Function Block |
| 5 | 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:
- This FB is primarily intended for emergency stop functionality or exception situations
- As long as ‘Execute’ is high, the axis remains in the state ‘Stopping’ and may not be executing any other motion command.
- If ‘Deceleration’ = 0, the behavior of the function block is implementation specific
R registers and M markers used: none