MC_Halt_PTO: Command a Controlled Motion Stop until the Velocity equals Zero

Graphical Representation

IL and ST Representation

To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation.

Input Variables

This table describes the input variables:

Input	Type	Initial Value	Description
Axis	AXIS_REF_PTO	-	Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared in the controller configuration.
Execute	BOOL	FALSE	On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when its execution terminates.
Deceleration	DINT	20	Deceleration in Hz/ms or in ms (according to configuration). Range (Hz/ms): 1...MaxDecelerationAppl Range (ms): MaxDecelerationAppl...100,000
BufferMode	MC_BUFFER_MODE	mcAborting	Transition mode from ongoing move.
JerkRatio1	INT	0	Percentage of deceleration from constant velocity used to create the S-curve profile.
JerkRatio2	INT	0	Percentage of deceleration to standstill used to create the S-curve profile.

Output Variables

This table describes the output variables:

Output	Type	Initial Value	Description
Done	BOOL	FALSE	If TRUE, indicates that the function block execution is finished with no error detected .
Busy	BOOL	FALSE	If TRUE, indicates that the function block execution is in progress.
Active	BOOL	FALSE	The function block controls the Axis. Only one function block at a time can set Active TRUE for a defined Axis.
CommandAborted	BOOL	FALSE	Function block execution is finished, by aborting due to another move command or an error detected .
Error	BOOL	FALSE	If TRUE, indicates that an error was detected. Function block execution is finished.
ErrorId	PTO_ERROR	PTO_ERROR.NoError	When Error is TRUE: type of the error detected .

NOTE: The function block completes with velocity zero.

Timing Diagram Example

The diagram illustrates a simple profile from Continuous state:

The diagram illustrates a simple profile from Discrete state: