MC_Stop (motion control stop)

The MC_Stop instruction commands a controlled motion stop and transfers the axis state to Stopping. Any ongoing function block execution is canceled. All function block move commands are ignored until the axis state transitions to Standstill.
Operation details:
  • As long as the Execute input is high, the axis remains in the Stopping state. While the axis is in the Stopping state, other motion function blocks cannot perform any motion on the same axis.
  • If Deceleration equals zero, the MC_Stop parameters are determined by the Axis configuration Emergency Stop setting, including E-Stop type, E-stop Deceleration and E-stop Jerk.
  • When there are no errors detected during the stop sequence, the axis state transitions to Standstill after the Done bit is SET and the Execute input changes to False.
  • Use MC_Stop for emergency stop functionality or exception situations. Use MC_Halt for normal motion stops.
Languages supported: Function block diagram, ladder diagram, structured text.
This instruction applies to the L50E and L70E controllers that support motion control.
MC_Stop
MC_Stop
MC_Stop parameters
Parameter
Parameter Type
Data Type
Description
EN
Input
BOOL
Instruction block enable.
  • TRUE: Execute current MC_Stop computation.
  • FALSE: There is no computation.
Applies only to ladder diagram programs.
AxisIn
Input
AXIS_REF
Use the AXIS_REF data type to define the parameters for AxisIn.
Execute
Input
BOOL
  • TRUE: Starts the action at the rising edge.
  • FALSE: Not executing.
Deceleration
Input
REAL
Value of the deceleration [u/s
2
].
Jerk
Input
REAL
Value of the Jerk [u/s
3
].
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
TRUE: Zero velocity was reached, without error during the stop sequence.
Busy
Output
BOOL
TRUE: The function block is not finished.
Active
Output
BOOL
TRUE: Indicates that the function block has control on the axis.
CommandAborted
Output
BOOL
TRUE: Command was overridden by MC_Power(OFF) function block, 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_Stop examples

MC_Stop function block diagram example
MC_Stop function block diagram example
MC_Stop ladder diagram example
MC_Stop ladder diagram example
MC_Stop structured text example
MC_Stop structured text example
Results
Results
Axis monitoring
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