MC_GroupInterrupt, MCP_GroupInterrupt – Read a group interrupt

Block SymbolsLicensing group: COORDINATED MOTION
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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/s2]

Double (F64)

Jerk

Maximal allowed jerk [unit/s3]

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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