FUNCTION_BLOCK MC_Halt
This function block stops the referenced axis in a controlled manner. If actions of other function blocks are running at this time, the actions are aborted. The axis enters the discrete_motion state until the velocity 0 is reached. If the Done output of MC_Halt is set, the state of the axis changes to standstill. As long as MC_Halt is active, a new motion command can be issued that interrupts the execution of MC_Halt. Unlike MC_Stop, MC_Halt can also be overwritten.
Note
Overwriting the execution of MC_Halt A driverless vehicle detects an obstacle and is stopped with MC_Halt. The obstacle is removed before the vehicle comes to a standstill. By issuing a new motion command, MC_Halt is aborted and the trip is resumed without having come to a standstill.
InOut:
|
Scope |
Name |
Type |
Initial |
Comment |
|
Inout |
Axis |
|||
|
Input |
Execute |
BOOL |
FALSE |
TRUE: Starts execution. |
|
Deceleration |
LREAL |
0 |
Modulo value of the deceleration in [u/s²]. |
|
|
Jerk |
LREAL |
0 |
Jerk in [u/s³] |
|
|
Output |
Done |
BOOL |
FALSE |
TRUE: Velocity 0 has been achieved. |
|
Busy |
BOOL |
FALSE |
TRUE: Function block is in operation. |
|
|
CommandAborted |
BOOL |
FALSE |
TRUE: Execution has been interrupted by another function block instance operating on the axis. |
|
|
Error |
BOOL |
FALSE |
TRUE: Error has occurred. |
|
|
ErrorID |
SMC_ERROR |
0 |
Error identification |
