Corrected from:
- Library: L_MC1P_MotionControlBasic (FAST Motion) V03.10.00.72
(contained in PLC Designer V03.10.00.00 and higher)
Response of the new version:
The xHalt input internally triggers an 'MC_Halt' and can be aborted by other motion requests.
Due to the PLCopen state machine saved in the Axis_Ref, the 'Homing' function cannot be aborted by xHalt.
What happens?
The xHalt input internally triggers an MC_Stop command.
By definition, the MC_Stop cannot be interrupted. All new motion requests, e.g. xMoveVelExecute := TRUE, are rejected with an error message.
New requests can only be executed when 'xHalt' has been reset again.
When does this behaviour occur?
The behaviour occurs when using the holding function of the L_MC1P_AxisBasicControl FB ('xHalt' = TRUE).
Which products are affected?
- Library: L_MC1P_MotionControlBasic (FAST Motion)
(contained in the PLC Designer)
Short-term measures:
Use a separate instance of MC_Halt for interrupting motion requests.
Evaluation/recommendations:
