13.7.3.5 FB 802 - MC_Stop - stop axis
An overview of the drive systems, which can be controlled with this block
can be found here:
Ä
Chap. 13.7.1 ‘Overview’ page 542
With MC_STOP the axis is stopped. With the parameter Deceleration, the dynamic
behavior can be determined during stopping.
Parameter
Parameter Declaration Data type Description
Axis IN_OUT MC_AXIS_REF Reference to the axis
Execute INPUT BOOL
n Stop axis
– Edge 0-1: Stopping of the axis is started
Deceleration INPUT REAL
Delay in stopping in [user units/s
2
]
Jerk INPUT REAL Parameter is currently not supported; call with 0.0
Done OUTPUT BOOL
n Status
– TRUE: Job successfully done
Busy OUTPUT BOOL
n Status
– TRUE: Job is running
CommandA-
borted
OUTPUT BOOL
n Status
– TRUE: The job was aborted during processing by
another job.
Error OUTPUT BOOL
n Status
– TRUE: An error has occurred. Additional error infor-
mation can be found in the parameter ErrorID.
ErrorID OUTPUT WORD Additional error information
Ä
Chap. 13.10 ‘ErrorID - Additional error information’
page 637
n Start of the job in the PLCopen-States Standstill, Homing, Discrete Motion and Con-
tinuous Motion possible.
n MC_Stop switches the axis to the PLCopen-State Stopping. In Stopping no motion
jobs can be started. As long as Execute is true, the axis remains in PLCopen-State
Stopping. If Execute becomes FALSE, the axis switches to PLCopen-StateStandstill.
In Standstill motion tasks can be started.
The stopping of the axis is started with an edge 0-1 at Execute. Busy is TRUE as soon as
the stopping of the axis is running. After the axis has been stopped and thus the speed
has reached 0, Busy with FALSE and Done with TRUE is returned.
– An active job continues until the axis stops even when Execute is set
to FALSE.
– A running job can not be aborted by a move job (e.g. MC_MoveRela-
tive).
Description
PLCopen-State
Stop axis
VIPA SPEED7
Motion control - Simple Motion Control Library
Blocks for axis control > Complex motion tasks - PLCopen blocks
HB00 | OPL_SP7 | Operation list | en | 18-30 553
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