MC_GroupInterrupt (FB)¶

FUNCTION_BLOCK MC_GroupInterrupt

This function block interrupts the on-going motion. It stops the group from moving, however does not abort the interrupted motion (meaning that at the interrupted FB the output CommandAborted will not be set and Busy is still high). To continue from the saved state, use MC_GroupContinue. Issuing MC_GroupContinue with the information written by this FB transfers the axis group back to the situation at issuing MC_GroupInterrupt.

Note

If a CP-tracking-movement is active, we halt on the path, thus not with respect to the MCS.
Interrupting can only be aborted by MC_GroupStop.
This FB immediately returns CommandAborted, if another MC_GroupInterrupt or MC_GroupStop is active.
The FB SMC_GroupSaveContinueData is not required for MC_GroupInterrupt/MC_GroupContinue. The continue data is written once the Done output of MC_GroupInterrupt is set to TRUE.

InOut:

Scope	Name	Type	Comment
Inout	`AxisGroup`	AXIS_GROUP_REF_SM3	Reference to a group of axis
Inout	`continueData`	SMC_AXIS_GROUP_CONTINUE_DATA	Written when getting `Done`
Input	`Execute`	`BOOL`	A rising edge starts the function block.
Output	`Done`	`BOOL`	Zero velocity reached
	`Busy`	`BOOL`	The FB is not finished
	`CommandAborted`	`BOOL`	Command is aborted by another command
	`Error`	`BOOL`	Signals that an error has occurred within the function block
	`ErrorID`	`SMC_ERROR`	Error identification
	`mvtIdInterruptPosition`	`SMC_Movement_Id`	Movemnet Id corresponding to the interrupt position