This function block stops the ongoing movement. The function block can be aborted by other function blocks. See MC_Stop for a stop that cannot be aborted.
When this function block is started, the execution of any other function block is aborted.
The execution of the function block MC_Halt can be aborted by another function block in non-buffered mode.
If the function block MC_Halt is triggered, the axis transitions to the PLCopen operating state Discrete Motion and remains in this operating state until the motor has reached a standstill or another function block is started. Once the motor has reached standstill, the output Done is set and the axis transitions to the operating state StandStill.
As opposed to the function block MC_Stop which is primarily intended for Emergency Stop functions, the function block MC_Halt is intended for regular operation of the axis.
Library name: PLCopen MC part 1
Namespace: PLCO
|
Input |
Data type |
Description |
|---|---|---|
|
Axis |
Axis_Ref |
Reference to the axis for which the function block is to be executed. |
|
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. |
|
Deceleration |
LREAL |
Value range: Any positive LREAL value Default value: 0 Deceleration in user-defined units. |
|
Jerk |
LREAL |
Value range: Any positive LREAL value and zero oPositive values: Jerk limit (in units/s3) (maximum jerk with which the acceleration is modified). oZero: Jerk limit disabled. The acceleration instantaneously jumps from zero to maximum acceleration (infinite jerk). Default value: 0 |
|
BufferMode |
Default value: Aborting Buffer mode. Possible values: oValue Aborting oValue Buffered See MC_Buffer_Mode for a description of the values. |
|
Output |
Data type |
Description |
|---|---|---|
|
Done |
BOOL |
Value range: FALSE, TRUE. Default value: FALSE. oFALSE: Execution has not been finished, 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. |
|
Active |
BOOL |
Value range: FALSE, TRUE. Default value: FALSE. oFALSE: The function block does not control the movement of the axis. oTRUE: The function block controls the movement of the axis. |
|
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: Function block is being executed, no error has been detected during execution. oTRUE: An error has been detected in the execution of the function block. |
|
ErrorID |
ET_Result |
This enumeration provides diagnostics information. |
|
ErrorId |
Cause |
Corrective |
|---|---|---|
|
AxisInErrorStop |
Function block cannot be executed because an axis error has been detected and the axis is in operating state ErrorStop. |
Verify that the axis is not in the operating state ErrorStop when attempting to start a new function block. |
|
AxisInvalid |
No axis is specified for the input Axis or specified axis does not support the required function. For MC_Touchprobe and MC_AbortTrigger: Specified axis does not support capture. |
Connect the axis for which the function block is to be executed to the input Axis. For MC_Touchprobe and MC_AbortTrigger: Use an axis that supports capture. |
|
AxisIsDisabled |
Function block cannot be executed because the axis is the operating state Disabled. |
Verify that the axis is not in the operating state Disabled when attempting to start a new function block. |
|
AxisIsStopping |
Function block cannot be executed because an MC_Stop function block is active and the axis is in the operating state Stopping. |
Verify that the axis is not in the operating state Stopping when attempting to start a new function block. |
|
DecelerationOutOfRange |
The value at the input Deceleration is less than or equal to zero. |
Supply a positive value (greater than zero) at the input Deceleration. |
|
IfMotionCommandNotSupported |
The connected axis does not support all of the required functions. |
Verify that the connected axis implements the IF_MotionCommand interface of the MotionInterface library. |
|
JerkOutOfRange |
The value at the input Jerk is less than zero. |
Use a positive value or zero at the input Jerk. |
|
NoBusCommunication |
The fieldbus is not in the state Operational (Sercos: phase 4). |
Verify that the fieldbus is in the state Operational (Sercos: phase 4) at the rising edge of the input Execute and during the execution. |
|
Ok |
Status message |
- |
|
OutOfMemory |
Insufficient memory for movement command. |
Reduce the memory required by your application. |
|
UnexpectedReturnValue |
Indeterminable return value from system. |
Contact your Schneider Electric representative. |
