MC_GroupInterrupt, MCP_GroupInterrupt – Read a group interrupt

Block SymbolsLicensing group: COORDINATED MOTION

Function Description

The MC_GroupInterrupt and MCP_GroupInterrupt blocks offer the same functionality, the only difference is that some of the inputs are available as parameters in the MCP_ version of the block.

The function block MC_GroupInterrupt interrupts the on-going motion and stops the group from moving, however does not abort the interrupted motion (meaning that at the interrupted FB the output CommandAborted will not be Set, Busy is still high and Active is reset). It stores all relevant track or path information internally at the moment it becomes active. The uAxesGroup stays in the original state even if the velocity zero is reached and the Done output is set.

Note 1: This function block is complementary to the function block MC_GroupContinue which execution the uAxesGroup state is reset to the original state (before MC_GroupInterrupt execution)

Inputs

uAxesGroup	Axes group reference	Reference
Execute	The block is activated on rising edge	Bool
Deceleration	Maximal allowed deceleration [unit/s $^{2}$ ]	Double (F64)
Jerk	Maximal allowed jerk [unit/s $^{3}$ ]	Double (F64)

Outputs

yAxesGroup	Axes group reference	Reference
Done	Algorithm finished	Bool
Busy	Algorithm not finished yet	Bool
CommandAborted	Algorithm was aborted	Bool
Error	Error occurred	Bool
ErrorID	Result of the last operation	Error
	i .... REXYGEN general error

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