MC_GroupStop (FB)¶

FUNCTION_BLOCK FINAL MC_GroupStop

This function block commands a controlled motion stop and transfers the axis group to the state GroupStopping.

It aborts any other motion command. While the axis group is in state GroupStopping, no other FB can perform any motion on the same axis group. After the axis group has reached standstill, the Done output is set to TRUE immediately. The axis group remains in the state GroupStopping as long as Execute is still TRUE or the axes are not yet in standstill. As soon as Done is set and Execute is FALSE, the axis group goes to state GroupStandBy. The command can only be aborted by MC_Power.

Bemerkung

The effective limits for deceleration and jerk are determined by the inputs Deceleration, Jerk, AccFactor, and JerkFactor. For cp and path invariant ptp movements, in order to avoid leaving the path while stopping, the effective limits of the stopped movement are taken into account, too. This means that the effective limits of the stopped movement are used if they are higher than the effective limits calculated from the inputs of this function block.

Bemerkung

In contrast to MC_GroupHalt the given dynamic limits are neither influenced by an override set using MC_GroupSetOverride nor by ancillary limits set using SMC_GroupSetAncillaryPathLimits and SMC_GroupSetAncillaryAxisLimits respectively.
For halting point-to-point movements: the velocity/acc-/deceleration/jerk of each axis are properties of each axis and not specified within this function block. See also inputs AccFactor and JerkFactor.
The FB SMC_GroupSaveContinueData can be used to save the current position, state and all the commanded movements in order to continue from the position where MC_GroupStop was commanded. Make sure to call SMC_GroupSaveContinueData in the same cycle and before MC_GroupStop.

../../../_images/MC_GroupStop_Timing.png

InOut:

Scope	Name	Type	Initial	Comment
Inout	`AxisGroup`	AXIS_GROUP_REF_SM3		Reference to a group of axes
Input	`Execute`	`BOOL`		Start the action at rising edge
	`Deceleration`	`LREAL`		Value of the deceleration [u/s²]. Only used if a continuous-path movement is halted.
	`Jerk`	`LREAL`		Value of the jerk [u/s³]. Only used if a continuous-path movement is halted.
	`AccFactor`	`LREAL`	1	The maximum deceleration of each axis is multiplied by this factor, which must be in the range ]0, 1].
	`JerkFactor`	`LREAL`	1	The maximum jerk of each axis is multiplied by this factor, which must be in the range ]0, 1].
Output	`Done`	`BOOL`		Standstill has been reached
	`Busy`	`BOOL`		The FB is not finished
	`Active`	`BOOL`		Indicates that the FB has control on the axis
	`CommandAborted`	`BOOL`		Command is aborted by disabling MC-Power of one or more of the axes in the group. The state changes to `GroupDisabled`
	`CommandAccepted`	`BOOL`		Command has been accepted by the axis group
	`Error`	`BOOL`		Signals that an error has occurred within the function block
	`ErrorID`	`SMC_ERROR`		Error identification
	`MovementId`	`SMC_Movement_Id`		The unique identifier of the movement. Valid if `CommandAccepted` or `Done` is `TRUE`.