Siemens SIMATIC S7-1500 Function Manual page 277

Parameters
The following table shows the parameters of the "MC_Halt" Motion Control instruction:
Parameter Declaration
Axis InOut
Execute INPUT
Deceleration INPUT
Jerk INPUT
Done OUTPUT
Busy OUTPUT
CommandAborted OUTPUT
Error OUTPUT
ErrorID OUTPUT
Braking an axis with "MC_Halt"
Proceed as follows to decelerate an axis to a standstill:
1. Check the requirements indicated above.
2. Supply the parameters "Deceleration" and "Jerk" with the desired values.
3. Start the "MC_Halt" job with a positive edge at the parameter "Execute".
The current motion state is indicated in "Busy", "Done" and "Error". The standstill of the axis
is indicated under "Technology object > Diagnostics > Status and error bits > Motion status >
Standstill" (<TO>.StatusWord.X7 (Standstill)).
Additional information
An option for the evaluation of the individual status bits can be found in the Evaluating
StatusWord, ErrorWord and WarningWord (Page 175) section.
S7-1500 Motion Control V13 Update 3
Function Manual, 07/2014, A5E03879256-AC
Data type Default value
TO_SpeedAxis -
BOOL FALSE
LREAL -1.0
LREAL -1.0
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
WORD 16#0000
11.1 S7-1500 Motion Control V2
Description
Technology object
Start of the job with a positive edge
Deceleration
Value > 0.0: The specified value is used.
Value = 0.0: not permitted
Value < 0.0: The deceleration configured in "Tech-
nology object > Configuration > Extended parame-
ters > Dynamic defaults" is used.
(<TO>.DynamicDefaults.Deceleration)
Jerk
Value > 0.0: Constant-acceleration velocity profile;
the specified jerk is used
Value = 0.0: Trapezoid velocity profile
Value < 0.0: The jerk configured in "Technology
object > Configuration > Extended parameters >
Dynamic defaults" is used.
(<TO>.DynamicDefaults.Jerk)
TRUE Zero velocity reached
TRUE The job is being executed.
TRUE During execution the job was aborted by
another job.
TRUE An error occurred during execution of the
job. The job is rejected. The cause of the
error can be found in the "ErrorID" parame-
ter.
Error ID (Page 386) for parameter "Error"
Instructions
277