IF_MoveSyncFromStandstillSuperimposedChannelC - Stop (Method)

Overview

Type:

Method

Available as of:

V1.1.9.0

Task

Stopping the superimposed part of the carrier movement on channel C, controlled by the move command MoveSyncFromStandstillSuperimposedChannelC.

Description

The method IF_MoveSyncFromStandstillSuperimposedChannelC - Stop stops a superimposed carrier movement on channel C started by the method StartAbsolutePositioning.

When the method IF_MoveSyncFromStandstillSuperimposedChannelC - Stop is called, the carrier is stopped with a positioning command setting the velocity to zero: 
Vel = 0

The motion parameters specified by the method SetMotionParameterSuperimposedChannelC (MaxAcceleration, MaxDeceleration, and MaxAbsJerk) are used for stopping the movement. For more details on the motion parameters, refer to SetMotionParameterSuperimposedChannelC.

NOTE: In case of a stop initiated by the method IF_MoveSyncFromStandstill - Stop or in case of an emergency stop of the machine through the application, the motion values on channels B and C are transferred to channel A (channel bundling). The superimposed motion values on channel B and C are set to 0.
With the method IF_MoveSyncFromStandstillSuperimposedChannelC - Stop, however, the superimposed part of the carrier movement is stopped without channel bundling. The superimposed motion values are still assigned to channel C.

For avoiding carrier movements to an unintended target due to an incorrrect starting position, use the method SetposRelativeChannelABC and restart the interrupted superimposed movement with the intended target position.

 WARNING
Unintended Equipment Operation
Define the restart position of an interrupted superimposed movement to avoid unintended movements.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

With the method IF_MoveSyncFromStandstillSuperimposedChannelC - Stop, the movement of the carrier is stopped without considering other carriers, for example without considering if the carrier in front stops faster. Take this into account during path planning.

 CAUTION
CARRIER Collision
Define the carrier path in a way that avoids collisions with other carriers.
Failure to follow these instructions can result in injury or equipment damage.
NOTE: You can use the function block FB_CrashPrevention as an additional protection measure to help avoid collisions.

Inputs

The method has no inputs.

Outputs

Output

Data type

Description

q_xError

BOOL

Indicates TRUE if an error has been detected. For details, refer to q_etResult and q_sResultMsg.

q_etResult

ET_Result

Provides diagnostic and status information as a numeric value.
If q_xError = FALSE, q_etResult provides status information.
If q_xError = TRUE, q_etResult provides diagnostic/error information.

q_sResultMsg

STRING [255]

Provides additional diagnostic and status information as a text message.