MC_GroupInterrupt (FB)ΒΆ
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 anotherMC_GroupInterrupt
orMC_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 toTRUE
.
- InOut:
Scope
Name
Type
Comment
Inout
AxisGroup
Reference to a group of axis
continueData
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