Timing Diagram

A typical timing diagram for MC_GroupStop is shown below, including the relevant states and state-transitions:

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MC_GroupStop timing diagram

The example below shows the behavior in combination with a MC_MoveLinearRelative:

  • An axes group in linear movement is ramped down with Function Blocks MC_GroupStop. The group stops on the original path,
  • The axes group rejects motion commands as long as MC_GroupStop parameter “Execute” = TRUE. Function Block MC_MoveLinearRelative reports an error indicating the busy MC_GroupStop command. This error is an Function Block error, so the group is not moving to the state GroupErrorStop,
  • At the 3rd “Exe1” rising edge, the group starts the next movement.
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Behavior of MC_GroupStop in combination with MC_MoveLinearRelative

The following example demonstrates the behaviour of MC_GroupStop in combination with two MC_MoveLinearAbsolute which are blended with defined constant path velocity:

Time Description
t:sub:0 Two Function Blocks MC_MoveLinearAbsolute are commanded on axes group MyAxesGroup. The first Function Block becomes active immediately and MyAxesGroup starts to move from its actual position (20.0; 20.0) towards the first target position.
t:sub:1 Shortly after the TCP has started to move on the blending contour blending Lin1 into Lin2, a FB MC_GroupStop is issued in buffermode Aborting. The state of the axes group changes from GroupMoving to GroupStopping. MyAxesGroup decelerates, following the path which would have been executed without having issued MC_GroupStop. Though the path velocity of MyAxesGroup decreases strictly monotonic while stopping, single axes of the group might accelerate in between due to the given path and kinematic transformation of MyAxesGroup.
t:sub:2 MyAxesGroup comes to standstill. The Done output of the Function Block MC_GroupStop is set. Since the input Execute of the Function Block Stop is still set the group stays in state GroupStopping.
t:sub:3 The input Execute of the Function Block Stop is reset. All outputs of the Function Block Stop are reset. The group state changes to GroupStandby.
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Example of MC_GroupStop in combination with two MC_MoveLinearAbsolute