LSIS XGT Series - Superimposed Operation Halt (Mc_Haltsuperimposed)

Chapter 6 Motion Function Blocks
6-58
6.3.20 SuperImposed operation halt (MC_HaltSuperImposed)
Motion Function Block
MC_HaltSuperImposed
AxisAxis
Execute Done
UINTUINT
BOOL BOOL
LREAL Deceleration
LREAL Jerk
Busy BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD
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 a SuperImposed operation halt 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
]
Output
BOOL
Done
Indicate that the speed of the relevant axis reaches 0.
BOOL
Busy
Indicate that the execution of 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
Output the number of error occurred while motion function block is running.
WORD ErrorID
Indicate the distance moved with SuperImposed operation after SuperImposed
command.
(1) This motion function block is a command issuing an order to halt SuperImposed operation to the relevant axis.
(2) Halt command for SuperImposed operation is a command ordering to decelerate and halt at a given acceleration and jerk
at the time of performing the command.
(3) After moving the target distance, when the velocity reaches 0, the command is completed and Done output is on.