Y_AX_Halt
This function block commands a controlled motion stop at the specified deceleration. The axis is moved to a 'continuous' motion state as it is decelerating and then switched to 'discrete' motion state for one application scan when the commanded velocity is zero. When the Done output is set, the state is transferred to 'standstill' state.
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | Axis | AXIS_REF | Logical axis reference. | |
| VAR_INPUT | ||||
| B | Execute | BOOL | Upon the rising edge of the Execute input, all other inputs are read and the function block becomes operational. If an input needs to be modified, the value will have to be changed and the Execute input will have to be re-triggered. | 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 | The Done output is set to TRUE when the commanded action has completed successfully. If another function block takes control before the action is completed, the Done output will never become TRUE. This output is reset when Execute becomes FALSE. | |
| E | Busy | BOOL | For function blocks with Execute input, the Busy output is set to TRUE upon the rising edge of the Execute, and set to FALSE when Done, CommandAborted or Error outputs becomes TRUE. In the case of a function block with an Enable input, Busy indicates that the function block is operating, but may not be ready to provide valid outputs. | |
| E | CommandAborted | BOOL | The CommandAborted output is set to TRUE if the operation performed by the instance of the function block is aborted by another command. | |
| B | Error | BOOL | The Error output is set to TRUE if an error has occurred during the operation of the function block. The output is cleared when the Execute or Enable input becomes FALSE. | |
| E | ErrorID | UINT | The ErrorID output provides the identifier of the error when there is an active error in the function block execution. The output is cleared when the Execute or Enable input becomes FALSE. | |
Notes
Error Description
See the
Function Block ErrorID List
Example
An example of Y_AX_Halt function blocks in action aborting MC_MoveRelatives three times can be seen. The last two move relatives are aborting the first two Y_AX_HAlt function blocks as well. The same profile can be obtained even if one instance of Y_AX_Halt function block is used to abort moves.
