MC_Halt_SML (FB)

FUNCTION_BLOCK FINAL MC_Halt_SML

Commands a controlled motion stop. The axis is moved to the state DiscreteMotion, until the velocity is zero. When the output Done is set, the state is transferred to Standstill.

Note

MC_Halt_SML is used to stop the axis under normal operation conditions. It is possible to start another motion command during deceleration of the axis, which will abort MC_Halt_SML and will be executed immediately.

The example below shows the behavior in combination with MC_MoveVelocity_SML.

  1. A rotating axis is ramped down with Function Block MC_Halt_SML

  2. Another motion command overrides the MC_Halt_SML command. MC_Halt_SML allows this, in contrast to MC_Stop_SML.

The axis can accelerate again without reaching Standstill.

../_images/MC_Halt_Example.png
InOut:

Scope

Name

Type

Comment

Inout

Axis

Axis_REF_SML

Reference to the axis

Input

Execute

BOOL

Rising edeg: The halt is started

Deceleration

LREAL

Value of the deceleration (decreasing energy of the motor) [u/s²]

Output

Done

BOOL

Becomes true as soon as the axis has reached velocity zero

Busy

BOOL

TRUE as long as MC_Halt_SML is operating, reset when velocity is zero

CommandAborted

BOOL

Commanded motion was interrupted by any motion FB acting on the same axis

Error

BOOL

Signals that an error has occured

ErrorID

SML_ERROR

Error number