MC_Stop

Functional Description

This function block stops the ongoing movement. No other movements can be started as long as this function block is active. See MC_Halt for a stop that can be aborted.

The function block MC_Stop triggers a stop of the drive. With the exception of the operating mode Cyclic Synchronous Torque (MC_TorqueControl), the stop is performed with the values of the inputs Deceleration and Jerk. No parameters of the drive are used. If the function block is used to abort a function blockMC_TorqueControl, the values of the inputs Deceleration and Jerk are ignored and the stop is performed with the maximum current specified via the corresponding drive parameter.

When this function block is executed, the axis transitions to the PLCopen operating state Stopping and remains in this operating state as long as the input Execute is TRUE. As long as the axis is in this operating state, no other function block can be executed.

After successful completion of the function block, the axis transitions to the operating state StandStill. After a stop in the operating mode Cyclic Synchronous Torque, the operating mode is set to Position (refer to data type MC_OperationMode for details).

Graphical Representation

Inputs

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: A positive LREAL value Default value: 0 Deceleration in user-defined units.
Jerk	LREAL	Value range: A positive LREAL value and zero Positive values: Jerk limit (in units/s³) (maximum jerk with which the acceleration is modified). Zero: Jerk limit disabled. The acceleration instantaneously jumps from zero to maximum acceleration (infinite jerk). Default value: 0

Outputs

Output	Data type	Description
Done	BOOL	Value range: FALSE, TRUE. Default value: FALSE. FALSE: Execution has not been finished, or an error has been detected. TRUE: Execution terminated without an error detected.
Busy	BOOL	Value range: FALSE, TRUE. Default value: FALSE. FALSE: Function block is not being executed. TRUE: Function block is being executed.
CommandAborted	BOOL	Value range: FALSE, TRUE. Default value: FALSE. FALSE: Execution has not been aborted. TRUE: Execution has been aborted by another function block.
Error	BOOL	Value range: FALSE, TRUE. Default value: FALSE. FALSE: Function block is being executed, no error has been detected during execution. TRUE: An error has been detected in the execution of the function block.
ErrorID	ET_Result	This enumeration provides diagnostics information.

Notes

As long as the input Execute is TRUE, no other function block except for MC_Power can be started.

If an attempt is made to start a second function block MC_Stop while another function block MC_Stop is running, the output Error of the second MC_Stop is set to TRUE and the axis continues to decelerate with the settings of the first MC_Stop.

Additional Information

PLCopen State Diagram