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

- InOut:
Scope
Name
Type
Comment
Inout
Axis
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 asMC_Halt_SML
is operating, reset when velocity is zeroCommandAborted
BOOL
Commanded motion was interrupted by any motion FB acting on the same axis
Error
BOOL
Signals that an error has occured
ErrorID
Error number