MC_GroupStop
This Function Block commands a controlled motion stop and transfers the AxesGroup to the "GroupStopping" state. It aborts any ongoing or buffered motion. While the AxesGroup is in the GroupStopping state, no other function block can perform any motion on the AxesGroup. After the commanded velocity of the AxesGroup has reached zero velocity, the Done output is set. The AxesGroup remains in the "GroupStopping" state as long as Execute is held TRUE or the zero velocity command is in progress. When Done is set and Execute becomes FALSE, the AxesGroup transitions to "GroupStandBy" state. This function block can only be aborted by MC_GroupDisable.
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 for self hosted Groups supported by the FMK
- The relevant axes stay on the path.
- If issued during an MC_MoveDirectXxx command, the velocity/acc-/deceleration/jerk values as properties of the AxisRef of each axis are used, and not specified within this function block, and will not be exceeded during the movement.
- Any synchronization of the group to a master is canceled by issuing MC_GroupStop.
Notes for Remote Hosted robot groups
- The TCP may deviate from the original motion path when this block is executed.
- The Deceleration and Jerk values are not taken from the VAR_INPUTs of this function; the preset values for the specific robot model are applied.
- Any synchronization of the group to a master is canceled by issuing MC_GroupStop.
Error Description
See the Function Block ErrorID List.
Example 1
Example 2
