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

Graphical Representation

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

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.

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.

The diagram illustrates a simple profile from Continuous state:

The diagram illustrates a simple profile from Discrete state: