MC_GroupStop – Stopping a group movement
Block Symbol Licensing group: COORDINATED MOTION
Qt SVG Document
Exported by REXYGEN Studio
uAxesGroup
Execute
Deceleration
Jerk
LimitMode
yAxesGroup
Done
CommandAborted
Busy
Active
Error
ErrorID
MC_GroupStop
Function Description
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+xml velocity1 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 uVec u1 u2 u3 u4 u5 u6 u7 u8 yVec MC_MoveLinearAbsolute − Function Block 1 uAxesGroup Execute Position Velocity Acceleration Jerk CoordSystem BufferMode TransitionMode TransitionParameter yAxesGroup Done CommandAborted Busy Active Error ErrorID MC_GroupStop uAxesGroup Execute Deceleration Jerk yAxesGroup Done CommandAborted Busy Active Error ErrorID
image/svg+xml 0 1 2 3 4 5 6 7 8 9 10 0 0.5 1 bool Execute − MC_MoveLinearAbsolute 0 1 2 3 4 5 6 7 8 9 10 0 0.5 1 bool Done − MC_MoveLinearAbsolute 0 1 2 3 4 5 6 7 8 9 10 0 0.5 1 bool Error − MC_MoveLinearAbsolute 0 1 2 3 4 5 6 7 8 9 10 0 0.5 1 bool Execute − MC_GroupStop 0 1 2 3 4 5 6 7 8 9 10 0 0.5 1 bool Done − MC_GroupStop 0 1 2 3 4 5 6 7 8 9 10 −0.2 0 0.2 0.4 Velocity [rad/s] Velocity AxesGroup 0 1 2 3 4 5 6 7 8 9 10 0.6 0.8 1 1.2 commanded position x commanded position y Time [s] Position [rad] Position AxesGroup x−axis y−axis
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