Name :Suspend the order

Symbol :MC_Halt

Illustrate:

        It is used to implement the pause function of the shaft, and the rising edge of the command is valid.
        This command can only be invoked if the axis is enabled using the MC_Power command.
        On the rising edge of the EXECUTE, the input DECE value is locked, and the PLCOpen state machine of the axis changes to DiscreteMotion, and the deceleration and shutdown process begins.
        When the deceleration stops, the DONE signal is active, and the shaft status switches from DiscreteMotion to Standstill.
        This command can be interrupted and terminated: Instructions that can keep the axis in the ContinuousMotion, DiscreteMotion, and Stopping states can interrupt this command (the PLCOpen state machine of the reference axis), and when interrupted, CMDABORTED is valid.

Image:

Parameter:

The name of the parameter | data type | IN/OUT | Parameter role | Illustrate | Default value
--- | --- | --- | --- | --- | ---
AXISNO | UDINT | IN | Pulse shaft number | 0-7 |
    not
EXECUTE | BOOL | IN | Function block triggering | The rising edge triggers the execution of the order |
    FALSE
DECE | REAL | IN | Deceleration | Deceleration(non-0 value, absolute value valid), ≤ maximum acceleration, unit：unit/s |
    not
DONE | BOOL | OUT | Shutdown Complete flag | TRUE：The shutdown is complete |
    FALSE
BUSY | BOOL | OUT | Busy sign | TRUE：Deceleration is being stopped |
    FALSE
CMDABORTED | BOOL | OUT | End execution flag | TRUE：If it is interrupted by other instructions, the execution of this instruction will be terminated |
    FALSE
ERROR | BOOL | OUT | Error flags | TRUE：There was an error with the function block call |
    FALSE
ERRORID | UINT | OUT | Error codes | 0：Normal, Other: Error code value |
    0

Example:

LD:

ST:

MC_Halt_inst1(AXISNO := 0, EXECUTE := TRUE, DECE := 100, DONE => DoneOut, BUSY => BusyOut, CMDABORTED => CmdAbortOut, ERROR => ErrorOut, ERRORID => ErrorIdOut);

Interpretation:

       AXISNO is 0, which means that the operating pulse axis is 0;
       EXECUTE is executed by FALSE->TRUE, and the rising edge triggers the function block to execute;
       If the DECE is 100, it will decelerate at a deceleration of 100 unit/s until it stops.
       If DoneOut is TRUE, the deceleration and shutdown are complete.
       If BusyOut is TRUE, it means that the machine is being decelerated and stopped, and BusyOut is reset after completion.
       If CmdAbortOut is TRUE, the execution has been terminated due to interruption.
       ErrorOut is TURE, which indicates that there is an error and the command cannot be executed.
       If ErrorIdOut is 0, the execution is normal, and if it is not 0, there is an error and cannot be executed.