SMC_GroupInterruptAt (FB)¶

FUNCTION_BLOCK SMC_GroupInterruptAt

This is a variant of MC_GroupInterrupt. While MC_GroupInterrupt interrupts the on-going motion immediately, this function block allows specifying the exact position on the path where the motion shall be interrupted.

Note

The position on the path has to be known, i.e. the movement that shall be interrupted has to already be commanded before this function block is executed. Otherwise, an error will be reported.
This function block does not reverse on the path. If it is not possible to reach the specified position without a reversal, the on-going motion is interrupted at the nearest possible position.

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.
Input	`Position`	SMC_GroupInterruptPosition	The position where the ongoing motion shall be interrupted.
Output	`Done`	`BOOL`	Zero velocity reached
	`Busy`	`BOOL`	The FB is not finished
	`Interrupting`	`BOOL`	Signals that the FB is currently interrupting
	`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