MC_HaltSuperImposed (FB)¶

FUNCTION_BLOCK FINAL MC_HaltSuperImposed

Halts any superimposed movement of the axis. The underlying movement is not aborted.

The function block MC_HaltSuperImposed must be called after the function block of the original movement. If a movement command is called after MC_HaltSuperImposed, the error SMC_MSI_INVALID_EXECUTION_ORDER is returned.

An active instance of MC_HaltSuperImposed can be aborted by a second instance of MC_HaltSuperImposed. An active instance can also be aborted by the same instance when it is called with a new rising edge on the input Execute.

If no superimposed movement is active when this function block is called, it reports done in immediately.

The Deceleration and Jerk inputs are additional values (not absolute values), which are added to the original movement. The original function block will always complete its movement within the same duration and with no consideration for any instance of MC_HaltSuperImposed acting at the same time.

InOut:

Scope	Name	Type	Comment
Inout	`Axis`	AXIS_REF_SM3	Reference to the axis
Input	`Execute`	`BOOL`	A rising edge starts the function block.
	`Deceleration`	`LREAL`	Maximum deceleration of the superimposed movement
	`Jerk`	`LREAL`	Maximum jerk of the superimposed movement
Output	`Done`	`BOOL`	`TRUE`: Superimposed movement has been halted.
	`Busy`	`BOOL`	`TRUE`: Function block is in operation.
	`CommandAborted`	`BOOL`	`TRUE`: Execution has been interrupted by another function block instance operating on `Axis`.
	`Error`	`BOOL`	`TRUE`: Error has occurred.
	`ErrorID`	`SMC_ERROR`	Error identification