MC_Halt

Functional Description

This function block stops the ongoing movement. The operating mode is aborted by this function block.

The execution of the function block can be aborted by another function block. If a Halt is triggered, there is a transition of the PLCopen state to Discrete Motion until the motor has reached a standstill. Once the motor has reached a standstill, the output Done is set and the state transitions to StandStill.

Library and Namespace

Library name: GMC Independent PLCopen MC

Namespace: GIPLC

Graphical Representation

Inputs

Input	Data type	Description
Execute	BOOL	Value range: FALSE, TRUE. Default value: FALSE. A rising edge of the input Execute starts the function block. The function block continues execution and the output Busy is set to TRUE. This function block can be restarted while it is executed. The target values are overwritten by the new values at the point in time the rising edge occurs.

Input

Data type

Description

Execute

BOOL

Value range: FALSE, TRUE.

Default value: FALSE.

A rising edge of the input Execute starts the function block. The function block continues execution and the output Busy is set to TRUE.

This function block can be restarted while it is executed. The target values are overwritten by the new values at the point in time the rising edge occurs.

Outputs

Output	Data type	Description
Done	BOOL	Value range: FALSE, TRUE. Default value: FALSE. oFALSE: Execution has not been started, or an error has been detected. oTRUE: Execution terminated without an error detected.
Busy	BOOL	Value range: FALSE, TRUE. Default value: FALSE. oFALSE: Function block is not being executed. oTRUE: Function block is being executed.
CommandAborted	BOOL	Value range: FALSE, TRUE. Default value: FALSE. oFALSE: Execution has not been aborted. oTRUE: Execution has been aborted by another function block.
Error	BOOL	Value range: FALSE, TRUE. Default value: FALSE. oFALSE: Execution of the function block is running, no error has been detected. oTRUE: An error has been detected in the execution of the function block.
ErrorID	WORD	Returns the value of a diagnostic code. Refer to Library Diagnostic Codes. If the value is 0 and if the output Error of this function block is set to TRUE, then the diagnostic code can be read with the output AxisErrorID of the function block MC_ReadAxisError.

Inputs/Outputs

Input/Output	Data type		Description
Axis	Axis_Ref		Reference to the axis (instance) for which the function block is to be executed (corresponds to the name of the axis). The name of the axis must be defined in the EcoStruxure Machine Expert Devices tree.

Notes

This function block uses library-specific deceleration values for LXM32M (EtherNet/IP and Modbus/TCP) and for Lexium ILA, ILE and ILS integrated drives (EtherNet/IP only). This means that pre-configured values for these parameters (for example, via the commissioning tool) are overwritten when this function block is executed.

The default deceleration values written by this function block are as follows:

oThe default values for deceleration are 600 user-defined units for LXM32M and 750 user-defined units for Lexium ILA, ILE and ILS integrated drives.

If you require other deceleration values, you must use the vendor-specific function blocks to do so. Use the function blocks SetDriveRamp_LXM32 and SetDriveRamp_ILX to define the deceleration. The function block has to be executed only once if a change of the ramp values is required.

Additional Information

PLCopen State Diagram

Transition Between Function Blocks

Stopping