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MC_GroupHalt – Stopping a group movement (interruptible)

Block SymbolLicensing group: COORDINATED MOTION
Qt SVG Document Exported by REXYGEN Studio uAxesGroup Execute Deceleration Jerk LimitMode BufferMode Superimposed yAxesGroup Done CommandAborted Busy Active Error ErrorID MC_GroupHalt

Function Description
The function block description is not yet available. Below you can find partial description of the inputs, outputs and parameters of the block. Complete documentation will be available in future revisions.

Inputs

uAxesGroup

Axes group reference

Reference

Execute

The block is activated on rising edge

Bool

Deceleration

Maximal allowed deceleration [unit/s2]

Double (F64)

Jerk

Maximal allowed jerk [unit/s3]

Double (F64)

Outputs

yAxesGroup

Axes group reference

Reference

Done

Algorithm finished

Bool

CommandAborted

Algorithm was aborted

Bool

Busy

Algorithm not finished yet

Bool

Active

The block is controlling the axis

Bool

Error

Error occurred

Bool

ErrorID

Result of the last operation

Error

i ....

REXYGEN general error

image/svg+xmlvelocity1 0.4 transition_parameter1 1 transition_mode1 1 reference_to_axesgroup [axes_group] position z1 1 position y1 1.1 position x1 0.9 orientation_of_effector1 −1.5 execute2 [execute2] execute1 [execute1] deceleration 0.75 coord_system1 2 buffer_mode1 1 acceleration1 1 RTOV1 uVecu1u2u3u4u5u6u7u8yVec MC_MoveLinearAbsolute −Function Block 1 uAxesGroupExecutePositionVelocityAccelerationJerkCoordSystemBufferModeTransitionModeTransitionParameteryAxesGroupDoneCommandAbortedBusyActiveErrorErrorID MC_GroupHalt uAxesGroupExecuteDecelerationJerkyAxesGroupDoneCommandAbortedBusyActiveErrorErrorID

image/svg+xml0 2 4 6 8 10 −0.2 0 0.2 0.4 0.6 0.8 1 1.2 bool Execute − MC_MoveLinearAbsolute 0 2 4 6 8 10 −0.2 0 0.2 0.4 0.6 0.8 1 1.2 bool Done − MC_MoveLinearAbsolute 0 2 4 6 8 10 −0.2 0 0.2 0.4 0.6 0.8 1 1.2 bool Error − MC_MoveLinearAbsolute 0 2 4 6 8 10 −0.2 0 0.2 0.4 0.6 0.8 1 1.2 bool Execute − MC_GroupStop 0 2 4 6 8 10 −0.2 0 0.2 0.4 0.6 0.8 1 1.2 bool Done − MC_GroupStop 0 2 4 6 8 10 −0.2 0 0.2 0.4 0.6 Velocity [rad/s] Velocity AxesGroup 0 2 4 6 8 10 0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 com. position xcommanded position yTime [s] Position [rad] Position AxesGroup x−axis y−axis 0 2 4 6 8 10 −0.2 0 0.2 0.4 0.6 0.8 1 1.2 bool Execute − MC_MoveLinearAbsolute 0 2 4 6 8 10 −0.2 0 0.2 0.4 0.6 0.8 1 1.2 bool Done − MC_MoveLinearAbsolute 0 2 4 6 8 10 −0.2 0 0.2 0.4 0.6 0.8 1 1.2 bool Error − MC_MoveLinearAbsolute 0 2 4 6 8 10 −0.2 0 0.2 0.4 0.6 0.8 1 1.2 bool Execute − MC_GroupHalt 0 2 4 6 8 10 −0.2 0 0.2 0.4 0.6 0.8 1 1.2 bool Done − MC_GroupHalt 0 2 4 6 8 10 −0.2 0 0.2 0.4 0.6 Velocity [rad/s] Velocity AxesGroup 0 2 4 6 8 10 0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 com. position ycommanded position yTime [s] Position [rad] Position AxesGroup x−axis y−axis

image/svg+xmlvelocity2 0.4 velocity1 0.4 transition_parameter2 1 transition_parameter1 1 transition_mode2 1 transition_mode1 1 reference_to_axesgroup [axes_group] position z2 1 position z1 1 position y2 0.7 position y1 1.1 position x2 0.8 position x1 0.9 orientation_of_effector2 −1.5 orientation_of_effector1 −1.5 execute3 [execute3] execute2 [execute2] execute1 [execute1] deceleration 0.75 coord_system2 2 coord_system1 2 buffer_mode2 1 buffer_mode1 1 acceleration2 1 acceleration1 1 RTOV2 uVecu1u2u3u4u5u6u7u8yVec RTOV1 uVecu1u2u3u4u5u6u7u8yVec MC_MoveLinearAbsolute −Function Block 2 uAxesGroupExecutePositionVelocityAccelerationJerkCoordSystemBufferModeTransitionModeTransitionParameteryAxesGroupDoneCommandAbortedBusyActiveErrorErrorID MC_MoveLinearAbsolute −Function Block 1 uAxesGroupExecutePositionVelocityAccelerationJerkCoordSystemBufferModeTransitionModeTransitionParameteryAxesGroupDoneCommandAbortedBusyActiveErrorErrorID MC_GroupHalt uAxesGroupExecuteDecelerationJerkyAxesGroupDoneCommandAbortedBusyActiveErrorErrorID

image/svg+xml0 1 2 3 4 5 6 0 0.5 1 bool Execute − MC_MoveLinearAbsolute −− Function Block 1 0 1 2 3 4 5 6 0 0.5 1 bool Done − MC_MoveLinearAbsolute −− Function Block 1 0 1 2 3 4 5 6 0 0.5 1 bool Execute − MC_MoveLinearAbsolute −− Function Block 2 0 1 2 3 4 5 6 0 0.5 1 bool Done − MC_MoveLinearAbsolute −− Function Block 2 0 1 2 3 4 5 6 0 0.5 1 bool Execute − MC_GroupHalt 0 1 2 3 4 5 6 0 0.5 1 bool Execute − MC_GroupHalt 0 1 2 3 4 5 6 −0.2 0 0.2 0.4 Velocity [rad/s] Velocity AxesGroup 0 1 2 3 4 5 6 0.6 0.8 1 1.2 commanded position xcommanded position yTime [s] Position [rad] Position AxesGroup x−axis y−axis

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