Stopping on the Path with MC_GroupHalt or MC_GroupStop

The MC_GroupHalt and MC_GroupStop function blocks allow for stopping on the path, taking into account configurable deceleration and jerk limits. Stopping begins immediately.

The deceleration and jerk limits for stopping can differ from those of the active movement and can be larger as well as smaller. They are maintained as long as the path is not left. In the middle of the path, for example, a smooth stop with low deceleration is possible. At the end of the path, however, deceleration is at least strong enough to prevent any traveling beyond the end.

Difference between MC_GroupHalt and MC_GroupStop

The main difference between MC_GroupHalt and MC_GroupStop is that an MC_GroupStop cannot be aborted and that subsequent movements are accepted only after the Execute input has been reset. An MC_GroupStop prevents the axis group from moving.

Differentiation from MC_GroupInterrupt

In contrast to MC_GroupHalt and MC_GroupStop, an MC_GroupInterrupt starts with a short delay and has no configurable deceleration and jerk limits. Instead, the limits of the active movement are used. After an MC_GroupInterrupt, the interrupted movement can be resumed with MC_GroupContinue. With the help of SMC_GroupSaveContinueData, this is also possible with MC_GroupHalt and MC_GroupStop. For more information, see: Interruption and Continuation of Movements.

Behavior with movements in moving coordinate systems

For movements in moving coordinate systems (for example, when the robot moves relative to a conveyor belt), an MC_GroupHalt or MC_GroupStop results in an absolute stop. Therefore, it is not stopped relative to the moving coordinate system. The axis group remains on the path which it would have traversed in the machine coordinate system (MCS) if no MC_GroupHalt or MC_GroupStop had been commanded.