Mc_Halt (Pause Axis) Instruction - Siemens S7-1200 System Manual

Technology instructions
9.3 Motion control
To home the axis, follow these steps:
1. Check the requirements indicated above.
2. Initialize the necessary input parameters with values, and start the homing operation with
a rising edge at input parameter "Execute".
3. If output parameter "Done" and technology object tag <Axis
name>.StatusBits.HomingDone indicate the value TRUE, homing is complete.
Table 9- 34 Override response
Mode Description
0 or 1 The MC_Home task cannot be aborted by any other motion control task. The new MC_Home task does not
abort any active motion control tasks. Position-related motion tasks are resumed after homing according to
the new homing position (value at the Position input parameter).
2 The MC_Home task can be aborted by the following motion control tasks:
MC_Home task Mode = 2, 3: The new MC_Home task aborts the following active motion control task.
MC_Home task Mode = 2: Position-related motion tasks are resumed after homing according to the new
homing position (value at the Position input parameter).
3 The MC_Home task can be aborted by the following
motion control tasks:
MC_Home Mode = 3
•
MC_Halt
•
MC_MoveAbsolute
•
MC_MoveRelative
•
MC_MoveVelocity
•
MC_MoveJog
•
9.3.5.5

MC_Halt (Pause axis) instruction

Table 9- 35 MC_Halt instruction
LAD / FBD
STEP 7 automatically creates the DB when you insert the instruction.
1
In the SCL example, "MC_Halt_DB" is the name of the instance DB.
2
462
SCL
"MC_Halt_DB"(
Axis:=_multi_fb_in_,
Execute:=_bool_in_,
Done=>_bool_out_,
Busy=>_bool_out_,
CommandAborted=>_bool_out_,
Error=>_bool_out_,
ErrorID=>_word_out_,
ErrorInfo=>_word_out_);
The new MC_Home task aborts the following active
motion control tasks:
MC_Home Mode = 2, 3
•
MC_Halt
•
MC_MoveAbsolute
•
MC_MoveRelative
•
MC_MoveVelocity
•
MC_MoveJog
•
Description
Use the MC_Halt instruction to stop all
motion and to bring the axis to a stand-
still. The stand-still position is not defined.
In order to use the MC_Halt instruction,
the axis must first be enabled.
S7-1200 Programmable controller
System Manual, 03/2014, A5E02486680-AG