IF_Motion - StopCarrierWithEmergencyParameter (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

Task

Stopping the carrier movement with emergency parameters.

Description

The method StopCarrierWithEmergencyParameter stops the carrier movement with emergency parameters and aborts previous move commands.

When the method is called, the carrier is stopped with a positioning command setting the velocity to zero:

Vel = 0

The motion parameters specified by the method SetEmergencyParameter (MaxAcceleration, MaxDeceleration, and MaxAbsJerk) are used for stopping the movement. For more details on setting the emergency parameters, refer to SetEmergencyParameter.

With the method IF_Motion - StopCarrierWithEmergencyParameter, the movement of the carrier is stopped without considering other carriers, for example without considering if the carrier in front stops faster. Take this into account during path planning.

CAUTION
	CARRIER Collision Define the carrier path in a way that avoids collisions with other carriers. Failure to follow these instructions can result in injury or equipment damage.

NOTE: You can use the function block FB_CrashPrevention as an additional protection measure to help avoid collisions.

Inputs

The method has no inputs.

Outputs

Output	Data type	Description
q_xError	BOOL	Indicates TRUE if an error has been detected. For details, refer to q_etResult and q_sResultMsg.
q_etResult	ET_Result	Provides diagnostic and status information as a numeric value. If q_xError = FALSE, q_etResult provides status information. If q_xError = TRUE, q_etResult provides diagnostic/error information.
q_sResultMsg	STRING [255]	Provides additional diagnostic and status information as a text message.