MC_Halt, MCP_Halt –  Stopping a movement (interruptible)

Block SymbolsLicensing group: MOTION CONTROL
PIC PIC

Function Description
The MC_Halt and MCP_Halt blocks offer the same functionality, the only difference is that some of the inputs are available as parameters in the MCP_ version of the block.

The MC_Halt block commands a controlled motion stop and transfers the axis to the state DiscreteMotion. After the axis has reached zero velocity, the Done output is set to true immediately and the axis state is changed to Standstill.

Note 1: Block MC_Halt is intended for temporary stop of an axis under normal working conditions. Any next motion command which cancels the MC_Halt can be executed in nonbuffered mode (opposite to MC_Stop, which cannot be interrupted). The new command can start even before the stopping sequence was finished.

Inputs

uAxis

Axis reference (only RM_Axis.axisRefuAxis or yAxisuAxis connections are allowed)

Reference

Execute

The block is activated on rising edge

Bool

Deceleration

Maximal allowed deceleration [unit/s2]

Double (F64)

Jerk

Maximal allowed jerk [unit/s3]

Double (F64)

Outputs

yAxis

Axis reference (only RM_Axis.axisRefuAxis or yAxisuAxis connections are allowed)

Reference

Done

Algorithm finished

Bool

CommandAborted

Algorithm was aborted

Bool

Busy

Algorithm not finished yet

Bool

Active

The block is controlling the axis

Bool

Error

Error occurred

Bool

ErrorID

Result of the last operation

Error

i ....

REXYGEN general error

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