User Manual

Motion control is easy
10.5 Motion control instructions
Easy Book
Manual, 03/2014, A5E02486774-AF
225
Table 10- 15 Parameters for the MC_Halt instruction
Parameter and type
Data type
Description
Axis
IN
TO_Axis_1
Axis technology object
Execute
IN
Bool
Start of the task with a positive edge
Done
OUT
Bool
TRUE = Zero velocity reached
Busy
OUT
Bool
TRUE = The task is being executed.
CommandAborted OUT Bool TRUE = During execution the task was aborted by another
task.
Error OUT Bool TRUE = An error has occurred during execution of the task.
The cause of the error can be found in parameters "ErrorID"
and "ErrorInfo".
ErrorID
OUT
Word
Error ID for parameter "Error"
ErrorInfo
OUT
Word
Error info ID for parameter "ErrorID"
The following values were configured in the "Dynamics > General" configuration window: Acceleration = 10.0 and
Deceleration = 5.0
①
The axis is braked by an MC_Halt task until it comes to a standstill. The axis standstill is signaled via "Done_2".
②
While an MC_Halt task is braking the axis, this task is aborted by another motion task. The abort is signaled via
"Abort_2".