MC_Halt, MCP_Halt – Stopping a movement (interruptible)

Block SymbolsLicensing group: MOTION CONTROL

Function Description
The MC_Halt and MCP_Halt blocks offer the same functionality, the only difference is that some of the inputs are available as parameters in the MCP_ version of the block.

The MC_Halt block commands a controlled motion stop and transfers the axis to the state DiscreteMotion. After the axis has reached zero velocity, the Done output is set to true immediately and the axis state is changed to Standstill.

Note 1: Block MC_Halt is intended for temporary stop of an axis under normal working conditions. Any next motion command which cancels the MC_Halt can be executed in nonbuffered mode (opposite to MC_Stop, which cannot be interrupted). The new command can start even before the stopping sequence was finished.

Inputs

uAxis	Axis reference (only RM_Axis.axisRef–uAxis or yAxis–uAxis connections are allowed)	Reference
Execute	The block is activated on rising edge	Bool
Deceleration	Maximal allowed deceleration [unit/s $^{2}$ ]	Double (F64)
Jerk	Maximal allowed jerk [unit/s $^{3}$ ]	Double (F64)

Outputs

yAxis	Axis reference (only RM_Axis.axisRef–uAxis or yAxis–uAxis connections are allowed)	Reference
Done	Algorithm finished	Bool
CommandAborted	Algorithm was aborted	Bool
Busy	Algorithm not finished yet	Bool
Active	The block is controlling the axis	Bool
Error	Error occurred	Bool
ErrorID	Result of the last operation	Error
	i .... REXYGEN general error

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