MC_Stop (FB)

FUNCTION_BLOCK MC_Stop

This function block commands a controlled motion stop and transfers the axis to the state “Stopping”.

Note

MC_Stop can not be aborted by another command. It can be aborted only by another MC_Stop function block

It aborts any ongoing function block execution. While the axis is in state Stopping, no other function block can perform any motion on the same axis. After the axis has reached velocity zero, the Done output is set to TRUE immediately. The axis remains in the state “Stopping” as long as Execute is still TRUE or velocity zero is not yet reached. As soon as “Done” is TRUE and “Execute” is FALSE the axis goes to state “STANDSTILL”.

Example

Behavior of MC_Stop in combination with MC_MoveVelocity

1. A rotating axis is ramped down with function block MC_Stop.

2. The axis rejects motion commands as long as MC_Stop parameter Execute = TRUE. Function block MC_MoveVelocity reports an error indicating the busy MC_Stop command.

InOut:

Scope	Name	Type	Comment
Input	Execute	BOOL	Starts the function block at rising edge
	Deceleration	LREAL	[u/s°°2] Value of the deceleration (decreasing energy of the motor). Range: >0. If value = 0, Deceleration will be equal to parameter paraMaxDecelerationAppl.If value > 0 and <= 1,Deceleration will be limited to 1.
	Jerk	LREAL	[u/s°°3] Value of the jerk. Range: >=-1. Use jerk= 0 to disable jerk interpolation. This will result in a constant deceleration during the stop. Use jerk=-1 for automatic jerk calculation. This will create a triangle-shaped deceleration
	BufferMode	MC_BufferMode	Not supported, default mcABORTING used
Output	Done	BOOL	Shows the status of the function block. Done = TRUE if the execution is finished
	Busy	BOOL	The function block is not finished
	Active	BOOL	Indicates that the function block has control on the axis
	CommandAborted	BOOL	Command is aborted by another command from other PLCopen function block
	Error	BOOL	Signals that error has occurred within function block
	ErrorID	ERROR_ID	Error identification. For error details refer to Enumeration ERROR_ID
Inout	Axis	Axis_Ref	Reference to axis