MC_GroupHalt

Function block		MC_GroupHalt
Commands a controlled motion stop. The group is moved to the state GroupMoving, until the velocity is zero. When the Done output is TRUE, the state is changed to GroupStandby.
VAR_IN_OUT
B	GroupIn	AXES_GROUP_REF	Reference to a group of axes. References are zero based. You can have up to 32 groups.
VAR_INPUT
B	Execute	BOOL	Starts the action at rising edge.
E	Deceleration	LREAL	Value of the deceleration. The unit is determined by MC_ProfileType. [unit/second²] or [second]
E	Jerk	LREAL	Value of the jerk. The unit is determined by MC_ProfileType. [unit/second³] or [second]
E	BufferMode	MC_BufferMode	Defines how to blend the velocity of two function blocks.
VAR_OUTPUT
B	Done	BOOL	Zero velocity reached.
E	Busy	BOOL	The function block is not finished.
E	Active	BOOL	The function block has control on the axis group.
E	CommandAborted	BOOL	The command is aborted by another command.
B	Error	BOOL	Signals that an error has occurred within the function block.
E	ErrorID	MC_Error	Error identification.
MC_GroupHalt is used to stop the axis group under normal operation conditions. Non-buffered mode: During deceleration of the axis group it is possible to set another motion command, which will abort the MC_GroupHalt and will be executed immediately. If this command is active, the next command can be sent. For example, a driverless vehicle detects an obstacle and needs to stop. MC_GroupHalt is sent. Before the Standstill is reached, the obstacle is removed and the motion can be continued by setting another motion command, so the vehicle doesn't stop. The deceleration is proportional to the velocity of each axis. MC_GroupHalt continues to use the path defined in the previous command. No new path is defined in the MC_GroupHalt command.

	MC_GroupHalt
AXES_GROUP_REF	GroupIn	Group	AXES_GROUP_REF
BOOL	Execute	Done	BOOL
LREAL	Deceleration	Busy	BOOL
LREAL	Jerk	Active	BOOL
MC_BufferMode	BufferMode	CommandAborted	BOOL
		Error	BOOL
		ErrorID	MC_Error