MC_Halt
This function block executes a movement stop. The axis is in the "DiscreteMotion" state until the speed is 0. When the axis stops, Done is set and the state changes to "Standstill".
Under normal operating conditions, MC_Halt is used to stop the axis. In the unbuffered mode (MC_BufferMode.mcAborting), it is possible to execute another motion command during the deceleration of the axis, which cancels MC_Halt and is executed immediately. If, for example, a conveyor belt is to stop due to a product jam, MC_Halt is executed. Before the conveyor belt has reached the "Standstill" state, the jam is cleared and the movement can be continued with another motion command.
VAR_IN_OUT
Variable name | Data type | Description |
|---|---|---|
Axis | AXIS_REF | Reference to a logical device See also AXIS_REF. |
VAR_INPUT
Variable name | Data type | Description |
|---|---|---|
Execute | BOOL | Start execution of the function block. |
Deceleration | LREAL | Deceleration in [user unit/s2]. Auxiliary axes use the deceleration defined for the application stop in the event of an MC_Halt. |
Jerk | LREAL | Jerk in [user unit/s3] Auxiliary axes use the application limit jerk time. |
BufferMode | Chronological sequence of the function block |
VAR_OUTPUT
Variable name | Data type | Description |
|---|---|---|
Done | BOOL | Function block successfully completed |
Busy | BOOL | Function block is active |
Active | BOOL | Function block controls the axis |
CommandAborted | BOOL | The function block was canceled by another command |
Error | BOOL | An error has occurred in the function block |
ErrorID | WORD | Error number |
