MC_GroupInterrupt
This Function Block interrupts on-going motion and decelerates the group to a stop, however it does not abort motion, meaning that the interrupted motion block's (MC_MoveLinearAbsolutefor example) CommandAborted will not be Set. Motion blocks Busy output will remain high and Active is reset.
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
|
VAR_IN_OUT
|
||||
| B |
AxesGroup | AXES_GROUP_REF | A logical reference to a group of axes, which contains several additional substructures pertaining to the group. | |
| VAR_INPUT | ||||
| B | Execute |
BOOL | Upon the rising edge, all other function block inputs are read and the function is initiated. To modify an input, change the value and re-trigger the execute input. | FALSE |
| E | Deceleration | LREAL | Value of the deceleration in user units/second^2 (deceleration is applicable with opposite signs of torque and velocity.) |
LREAL#0.0 |
| E | Jerk | LREAL | Not supported; reserved for future use. Value of the jerk in [user units / second^3]. |
LREAL#0.0 |
| VAR_OUTPUT | ||||
| B | Done |
BOOL | Set high when the commanded action has completed successfully. If another block takes control before the action is completed, the Done output will not be set. This output is reset when Execute goes low. | |
| E | Busy |
BOOL | Set high upon the rising edge of the Execute input, and reset when Done, CommandAborted, or Error is true. In the case of a function block with an Enable input, a Busy output indicates the function is operating, but not ready to provide Valid information. (No Error) | |
| E | CommandAborted | BOOL | Set high if motion is aborted by another motion command or
MC_Stop. This output is cleared with the same behavior as the Done output. |
|
| B | Error | BOOL | Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low. |
|
| E | ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. |
|
Notes
- This function block is a companion to MC_GroupContinue. Issuing MC_GroupContinue transfers the group back to the situation previous to executing MC_GroupInterrupt.
- Additional motion commands are accepted (buffered) by the group while it is interrupted.
Error Description
See the Function Block ErrorID List.