MC_Halt (motion control halt)

The MC_Halt instruction commands a controlled motion stop under normal operating conditions.
Operating details:
  • The axis state changes to Discrete Motion, until the velocity is zero. When velocity reaches zero, Done is set to True and the axis state changes to Standstill.
  • It is possible to execute another motion command during deceleration of the axis, which overrides MC_Halt.
  • If MC_Halt is issued when the axis state is Homing, the instruction block reports an error, and the homing process is not interrupted.
Languages supported: Function block diagram, ladder diagram, structured text.
This instruction applies to the L50E and L70E controllers that support motion control.
MC_Halt
MC_Halt
MC_Halt parameters
Parameter
Parameter Type
Data Type
Description
EN
Input
BOOL
Instruction block enable.
  • TRUE: Execute current MC_Halt computation.
  • FALSE: There is no computation.
Applies to ladder diagram programs.
AxisIn
Input
AXIS_REF
Use the AXIS_REF data type parameters to define AxisIn.
Execute
Input
BOOL
Indicates when to start motion.
  • TRUE: Start the motion at rising edge.
  • FALSE: Do not start motion.
Executing MC_Halt during homing, MC_Halt is set to MC_FB_ERR_STATE and the homing process continues.
Deceleration
Input
REAL
Value of the deceleration (always positive) (decreasing energy of the motor).
If Deceleration <= 0 and the axis state is not Standstill, MC_Halt is set to MC_FB_ERR_RANGE.
Jerk
Input
REAL
Value of the Jerk (always positive).
If Jerk < 0 and the axis state is Standstill, MC_Halt is set to MC_FB_ERR_RANGE.
BufferMode
Input
SINT
Not used. The mode is always MC_Aborting.
ENO
Output
BOOL
Enable output.
Applies only to ladder diagram programs.
Axis
Output
Axis output is read-only in ladder diagram programs.
Done
Output
BOOL
Zero velocity reached.
Busy
Output
BOOL
The instruction block is not finished.
Active
Output
BOOL
Indicates that the instruction block has control on the axis.
CommandAborted
Output
BOOL
Command is overridden by another command, or error stop.
Error
Output
BOOL
Indicates that an error occurred.
  • TRUE: An error is detected.
  • FALSE: No error.
ErrorID
Output
UINT
A unique numeric that identifies the error. The errors for this instruction are defined in Motion control function block error IDs.

MC_Halt examples

MC_Halt function block diagram example
MC_Halt function block diagram example
MC_Halt ladder diagram example
MC_Halt ladder diagram example
MC_Halt structured text example
MC_Halt structured text example
Results
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