MC_Halt
|
Zastosowanie: |
PLC |
SIM |
Opis skrótowy:
Funkcja zatrzymująca skojarzoną oś.
wejścia (3 sztuki):
|
nr |
typ |
impuls |
oznaczenie |
uwagi |
|
1 |
B |
tak | Execute | Start the action at rising edge |
| 2 | REAL | nie | Deceleration | Value of the ‘Deceleration’ [u/s^2 ] |
| 3 | REAL | nie | Jerk | Value of the ‘Jerk’ [u/s^3 ] |
| 4 | INT | nie | BufferMode | Defines the chronological sequence of the FB. See 2.4.2 Aborting versus Buffered modes |
wyjścia (4 sztuki):
|
nr |
typ |
impuls |
oznaczenie |
uwagi |
|
1 |
B |
nie |
Done |
Zero velocity reached |
| 2 | B | nie | Busy | The FB is not finished and new output values are to be expected |
| 3 | B | nie | Active | Indicates that the FB has control on the axis |
| 4 | B | nie | CommandAborted | ‘Command’ is aborted by switching off power (only possibility to abort) |
| 5 | B | nie | Error | Signals that an error has occurred within the Function Block |
| 6 | INT | nie | ErrorID | Error identification |
ustawienia:
|
nr |
typ |
nazwa |
uwagi |
| 1 | INT | AxisID | numer skojarzonej osi |
opis działania:
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’.Uwagi:
- 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.
Używane rejestry R i znaczniki M: brak