LSIS XGT Series - Stop (Mc_Halt)

Chapter 6 Motion Function Blocks
6-18
6.3.4 Stop (MC_Halt)
Motion Function Block
MC_Halt
AxisAxis
Execute Done
UINTUINT
BOOL BOOL
LREAL Deceleration
LREAL Jerk
Busy BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD
UINT BufferMode
Active BOOL
Input-Output
UINT
Axis
Specify the axis to be commanded (1~32: real/virtual axis, 33~36: virtual axis)
Input
BOOL
Execute
Give stop command to the relevant axis in the rising Edge.
LREAL
Deceleration
Specify deceleration in time of stop. [u/s
2
]
LREAL
Jerk
Specify the change rate of acceleration/deceleration. [u/s
3
]
UINT BufferMode
Specify the sequential operation setting of motion function block.
(Refer to 6.1.4.BufferMode)
Output
BOOL
Done
Indicate that the speed of the relevant axis reaches 0.
BOOL
Busy
Indicate that the execution of motion function block is not completed.
BOOL
Active
Indicate that the current motion function block is controlling the relevant axis.
BOOL
CommandAborted
Indicate that the current motion function block is interrupted while it is running.
BOOL
Error
Indicate whether an error occurs or not.
WORD
ErrorID
Output the number of error occurred while motion function block is running.
(1) This motion function block is to give a stop command to the relevant axis.
(2) The axis is 'DiscreteMotion' state while this motion function block is running, and when the speed of the relevant axis is 0,
‘Done’ output is On and changed to 'Standstill' state.
(3) BufferMode can be selected, unlike MC_Stop command. Halt command (MC_Halt) can be stopped by another motion
function block.
(4) The changed parameters can be applied by re-executing the function block (Execute input is On) before the command is
completed.