MC_Stop_SML (FB)ΒΆ

FUNCTION_BLOCK MC_Stop_SML

Executes a (blocking) stop on the axis.

As long as the Execute input is set or the stop is not finished, no other motion command is possible on the axis, and the axis state is Stopping. After both the stop is finished and Execute is reset, the axis status is set to Standstill.

Note

the deceleration ramp can be set using parameter 2090 (fQuickStopDeceleration).

This diagram illustrates the behavior of MC_Stop_SML:

../_images/MC_Stop_Timing.png

The example below shows the behavior in combination with MC_MoveVelocity_SML.

  1. A rotating axis is ramped down with FB MC_Stop_SML.

  2. The axis rejects motion commands as long as MC_Stop_SML parameter Execute = TRUE. MC_MoveVelocity_SML reports an error indicating the busy MC_Stop_SML command.

../_images/MC_Stop_Example.png
InOut:

Scope

Name

Type

Comment

Inout

Axis

AXIS_REF_SML

Reference to the axis

Input

Execute

BOOL

Rising edge: The stop is started

Output

Done

BOOL

Zero velocity reached

Busy

BOOL

The FB is not finished and new output values are to be expected

Error

BOOL

An error has occured

ErrorID

SML_ERROR

Error number