MC_Halt

Function block		MC_Halt
Commands a controlled motion stop. The axis is in the Discrete Motion state until the velocity is zero. With the Done output TRUE, the state is set to Standstill.
VAR_IN_OUT
B	AxisIn	AXIS_REF	Reference to an axis.
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 and new output values are to be expected.
E	Active	BOOL	The function block is controlling the axis.
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_Halt is used to stop the axis under normal operation conditions. In the non-buffered mode it is possible to set another motion command during deceleration of the axis, which will abort MC_Halt and will be executed immediately. If this function block is active the next command can be sent. For example, a driverless vehicle detects an obstacle and needs to stop. MC_Halt 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.

 

		MC_Halt
AXIS_REF		AxisIn		Axis		AXIS_REF
BOOL		Execute		Done		BOOL
LREAL		Deceleration		Busy		BOOL
LREAL		Jerk		Active		BOOL
MC_BufferMode		BufferMode		CommandAborted		BOOL
				Error		BOOL
				ErrorID		MC_Error

The example below shows the behavior in combination with a MC_MoveVelocity.

1. A running axis is ramped down using MC_Halt.
2. Another motion command overrides the MC_Halt command. MC_Halt allows this, in contrast to MC_Stop. The axis can accelerate again without reaching Standstill.