13.7.3.6 FB 803 - MC_Halt - holding 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_Halt the axis is slowed down to standstill. With the parameter Deceleration the
dynamic behavior can be determined during breaking.
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 breaking in [user units/s
2
]
Jerk INPUT REAL Parameter is currently not supported; call with 0.0
BufferMode INPUT BYTE Parameter is currently not supported; call with B#16#0
Done OUTPUT BOOL
n Status
– TRUE: Job successfully done
Busy OUTPUT BOOL
n Status
– TRUE: Job is running
Active OUTPUT BOOL
n Status
– TRUE: Block controls the axis
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 Discrete Motion and Continuous Motion pos-
sible.
n MC_Halt switches the axis to the PLCopen-State Discrete Motion.
The slow down of the axis is started with an edge 0-1 at Execute. Busy is TRUE as soon
as the slow down of the axis is running. After the axis has been slowed down 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 be aborted by a move job (e.g. MC_MoveRelative).
Description
PLCopen-State
Slow down axis
VIPA SPEED7
Motion control - Simple Motion Control Library
Blocks for axis control > Complex motion tasks - PLCopen blocks
HB00 | OPL_SP7 | Operation list | en | 18-30 555
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