MC_Stop

MC_Stop - General Information

Overview

Type:	Function Block
Available as of:	1.0.5.0
Versions:	current version

Task

An axis is to be stopped.

Description

This function block enables a controlled motion stop and sets the axis to the status 'Stopping'. All running executions of a function block are cancelled. As long as the axis has the status 'Stopping', no other function block can execute a motion on the same axis. After the Velocity axis has reached zero, the Done output is immediately set to TRUE. The axis remains in the status 'Stopping' as long as Execute is still TRUE or Velocity zero has not yet been reached. As soon as Done is on SET and Execute is on FALSE, the axis changes to the status ‘Standstill’.

Interface

Input	Data type	Description
Axis	SystemConfigurationItf.IF_Drive	The axis that is to be stopped.
Execute	BOOL	Starts the motion in the case of a rising edge
Deceleration	LREAL	Acceleration of the motion
Jerk	LREAL	Jerk of the motion

Output	Data type	Description
Done	BOOL	Velocity zero has been reached.
Busy	BOOL	The motion is being executed.
Error	BOOL	Signalizes a detected error within the function block
ErrorId	DWORD	Error identification
q_etDiag	GD.ET_Diag	General, library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> status message q_etDiag <> GD.ET_Diag.Ok -> diagnostic message
q_sMsg	STRING[80]	Event-triggered message which gives more detailed information on the diagnostic state.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Busy	1	The order is executed.
OK	Done	8	The order is completed.
OK	Ok	0	Ok
DriveConditionInvalid	DriveNotReady	70	The drive is not ready for motion commands.
InputParameterInvalid	AxisInvalid	25	The connected drive is not supported.
InputParameterInvalid	DecelerationRange	54	Deceleration is outside the valid range.
InputParameterInvalid	DriveInvalid	26	The connected drive is invalid.
InputParameterInvalid	DriveNotInitialised	27	The connected drive is not initialized.
InputParameterInvalid	JerkRange	62	Jerk is outside the valid range.
SercosConditionInvalid	SercosNotInPhaseFour	43	The bus is not in phase 4.
UnexpectedProgramBehavior	UnexpectedFeedback	10	An unintended detected error occurred during execution.

AxisInvalid

Enumeration name:	AxisInvalid
Enumeration value:	25
Description:	The connected drive is not supported.

Issue	Cause	Solution
-	No drive has been applied at the input Axis.	A valid drive must be transferred to the input Axis.

Busy

Enumeration name:	Busy
Enumeration value:	1
Description:	The order is executed.

The axis is stopped.

DecelerationRange

Enumeration name:	DecelerationRange
Enumeration value:	54
Description:	Deceleration is outside the valid range.

Issue	Cause	Solution
-	An invalid value has been transferred at the input Deceleration.	A value greater than 0 and smaller than MaxAcc of the drive must be transferred to the input Deceleration.

Done

Enumeration name:	Done
Enumeration value:	8
Description:	The order is completed.

The axis was stopped.

DriveInvalid

Enumeration name:	DriveInvalid
Enumeration value:	26
Description:	The connected drive is invalid.

Issue	Cause	Solution
-	The drive connected at the input Axis does not support all required functionalities.	The drive must support the SystemConfigurationItf.IF_RefActualValuesPosition interface. The drive must support the interface SystemConfigurationItf.IF_Limits.

Issue

Cause

Solution

The drive connected at the input Axis does not support all required functionalities.

The drive must support the SystemConfigurationItf.IF_RefActualValuesPosition interface.

The drive must support the interface SystemConfigurationItf.IF_Limits.

DriveNotInitialised

Enumeration name:	DriveNotInitialised
Enumeration value:	27
Description:	The connected drive is not initialized.

Issue	Cause	Solution
-	The function FC_DriveInit was not activated for the drive at the input Axis.	Before using the POU, the drive must be initialized using the function FC_DriveInit.

DriveNotReady

Enumeration name:	DriveNotReady
Enumeration value:	70
Description:	The drive is not ready for motion commands.

Issue	Cause	Solution
-	The axis on the input Axis is not in position control.	Verify the state of the axis.

JerkRange

Enumeration name:	JerkRange
Enumeration value:	62
Description:	Jerk is outside the valid range.

Issue	Cause	Solution
-	An invalid value has been transferred at the input Jerk.	A value greater than 0 must be transferred at the input Jerk.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The POU is waiting for jobs.

SercosNotInPhaseFour

Enumeration name:	SercosNotInPhaseFour
Enumeration value:	43
Description:	The bus is not in phase 4.

Issue	Cause	Solution
-	The parameter State of the SERCOS bus is not 4.	Set the SERCOS bus parameter PhaseSet to 4. Verify the SERCOS bus for errors.

Issue

Cause

Solution

The parameter State of the SERCOS bus is not 4.

Set the SERCOS bus parameter PhaseSet to 4.

Verify the SERCOS bus for errors.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	10
Description:	An unintended detected error occurred during execution.

Issue	Cause	Solution
-	A detected error occurred in the internal execution.	Please inform the support team about this detected error.