MC_Stop, MCP_Stop – Stopping a movement

Block SymbolsLicensing group: MOTION CONTROL

Function Description

The MC_Stop and MCP_Stop 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_Stop 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=true and Execute=false the axis goes to state StandStill.

Note 1: parameter/input BufferMode is not supported. Mode is always Aborting.

Note 2: Failing stop-command could be dangerous. This block does not generate invalid-parameter-error but tries to stop the axis anyway (e.g. uses parameteres from RM_Axis or generates error-stop-sequence).

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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