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`	Axis_REF_SML	Reference to the axis
Input	`Execute`	`BOOL`	Rising edeg: The halt is started
Input	`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