Delta AX Series

AX-Series Motion Controller Instructions Manual Chapter 2
16
2.1.3 MC_Halt
 Supported Devices: AX-308E, AX-8, AX-364E
MC_Halt stops the axis motion in a controlled way.
FB/FC Instruction Graphic Expression ST Language
FB MC_Halt
MC_Halt_instance(
Axis : =,
Execute : =,
Deceleration : =,
Jerk : =,
Done =>,
Busy =>,
CommandAborted =>,
Error =>,
ErrorID => );
 Inputs
Name Function Data Type
Setting Value
(Default Value)
Timing to Take Effect
Execute
The instruction is run when
Execute changes from
False to True.
BOOL
True/False
(False)
-
Deceleration
Deceleration rate.
(Unit: user unit/s2)
LREAL
Positive
number or 0 (0)
When Execute turns to True, the
rate will be updated.
Jerk
Jerk value.
(Unit: user unit/s3)
LREAL
Positive
number or 0 (0)
When Execute is triggered to be
True, the value will be updated.
 Outputs
Name
Function
Data Type
Output Range (Default Value)
Done
True when zero
velocity is reached.
BOOL True/False (False)
Busy
True when the
instruction is run.
BOOL True/False (False)
CommandAborted
True when the
instruction is
interrupted.
BOOL True/False (False)
Error
True when an error
occurs.
BOOL True/False (False)
ErrorID
Record the error code
when an error occurs.
Refer to Appendix for
error code
descriptions.
SMC_ERROR* SMC_ERROR (SMC_NO_ERROR)