MC_Stop, MCP_Stop –  Stopping a movement

Block SymbolsLicensing group: MOTION CONTROL
PIC PIC

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.axisRefuAxis or yAxisuAxis connections are allowed

Reference

Execute

The block is activated on rising edge

Bool

Deceleration

Maximal allowed deceleration [unit/s2]

Double (F64)

Jerk

Maximal allowed jerk [unit/s3]

Double (F64)

Outputs

yAxis

Axis reference (only RM_Axis.axisRefuAxis or yAxisuAxis 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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