MC_GroupHalt (FB)¶

FUNCTION_BLOCK FINAL MC_GroupHalt

This function block commands a controlled motion stop.

It aborts all other motion function blocks, except MC_GroupStop. The AxisGroup is moved to the state GroupMoving, until transferred to GroupStandby.

Note

The effective limits for deceleration and jerk are determined by the inputs Deceleration, Jerk, AccFactor, and JerkFactor. These limits can be exceeded in order to stay on the commanded path.

Note

In contrast to MC_GroupStop the given dynamic limits are influenced by an override set using MC_GroupSetOverride and 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.
SMC_GroupSaveContinueData and MC_GroupContinue can be used to continue on the original path after a halt. The first movement after an MC_GroupHalt overwrites the state of the axis group, so SMC_GroupSaveContinueData has to be called before any new movement is commanded.

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 another command
	`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`.