MC_Halt (FB)¶

FUNCTION_BLOCK MC_Halt

This function block stops the referenced axis in a controlled manner. If actions of other function blocks are running at this time, the actions are aborted. The axis enters the discrete_motion state until the velocity 0 is reached. If the Done output of MC_Halt is set, the state of the axis changes to standstill. As long as MC_Halt is active, a new motion command can be issued that interrupts the execution of MC_Halt. Unlike MC_Stop, MC_Halt can also be overwritten.

Note

Overwriting the execution of MC_Halt A driverless vehicle detects an obstacle and is stopped with MC_Halt. The obstacle is removed before the vehicle comes to a standstill. By issuing a new motion command, MC_Halt is aborted and the trip is resumed without having come to a standstill.

InOut:

Scope	Name	Type	Initial	Comment
Inout	`Axis`	AXIS_REF_SM3
Input	`Execute`	`BOOL`	FALSE	`TRUE`: Starts execution.
	`Deceleration`	`LREAL`	0	Modulo value of the deceleration in [u/s²].
	`Jerk`	`LREAL`	0	Jerk in [u/s³]
Output	`Done`	`BOOL`	FALSE	`TRUE`: Velocity 0 has been achieved.
	`Busy`	`BOOL`	FALSE	`TRUE`: Function block is in operation.
	`CommandAborted`	`BOOL`	FALSE	`TRUE`: Execution has been interrupted by another function block instance operating on the axis.
	`Error`	`BOOL`	FALSE	`TRUE`: Error has occurred.
	`ErrorID`	`SMC_ERROR`	0	Error identification