cleaned comments; Buffer mode; added McHalt

BMK10k/BMK10kRuntime/POUs/FunctionBlocks/FB_Axis.TcPOU

 <?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4022.12">
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
   <POU Name="FB_Axis" Id="{18cf88d0-9c12-4f7c-90a6-943ec400ede8}" SpecialFunc="None">
     <Declaration><![CDATA[FUNCTION_BLOCK FB_Axis
 VAR_INPUT
-	///=============GROUP ADMINISTRATIVE==============
+	// Enable Axis ("Achsfreigabe")
 	bPowerEnable: 		BOOL;
+	// enable forward motion
 	bEnable_Positive:	BOOL := TRUE;
+	//enable backward motion
 	bEnable_Negative:	BOOL := TRUE;
+	//override controls
 	fPowerOverride: 	LREAL := 100;
+	// reset axis error
 	bReset:				BOOL;
 	
-	///=============GROUP MOVE==============
+	// execute axis movement
 	bMoveAbsExec: 		BOOL;
+	// axis target position
 	fMoveAbsPos: 		LREAL;
+	// axis velocity
 	fMoveAbsVelo: 		LREAL;
+	// lock axis with error
 	bStop:			 	BOOL;
+	// halt axis
+	bHalt:				BOOL;
 END_VAR
 VAR_OUTPUT
-	///=============GROUP ADMINISTRATIVE==============
+	// power status of the axis
 	bPowerStatus: 		BOOL;
+	// reset done
 	bResetDone: 		BOOL;
 	
-	///=============GROUP MOVE==============
+	// axis has reached target
 	bMoveAbsDone: 		BOOL;
+	// axis is busy moving
 	bMoveAbsBusy: 		BOOL;
+	// axis error on movement
 	bMoveAbsErr: 		BOOL;
 	
 
-	///=============GROUP STATUS==============    
+	// axis error
 	bAxError: 			BOOL;
+	// axis error id
 	nAxErrId: 			DWORD;
+	// current velocity
 	fActVelo: 			LREAL;
+	// current position
 	fActPos: 			LREAL;
 	
 END_VAR
 VAR
 	
-	(*
-	Aufgabe
-	fbMcPower vom MC_Power anlegen;
-	fbMc_Reset vom Typ MC_Reset anlegen;
-	fbMoveAbsolute vom Typ MC_MoveAbsolute anlegen;
-	*)
-	
 	// Baustein Reglerfreigabe
 	fbMcPower:	MC_Power;
 	
@@ -65,18 +73,10 @@ VAR
 	(* MC_Stop *)
 	fbMcStop : MC_Stop;
 	st_fbMcStopOut: ST_McOutputs;
-
-	(*
-	fbMoveAbsolute1: MC_MoveAbsolute;
-	st_fbMoveAbsolute1Out: ST_McOutputs;
-	fbMoveAbsolute2: MC_MoveAbsolute;
-	st_fbMoveAbsolute2Out: ST_McOutputs;
-	fbMoveAbsolute3: MC_MoveAbsolute;
-	st_fbMoveAbsolute3Out: ST_McOutputs;
-	*)
 	
-	nstate: INT;
-	fb_RTrig1: R_TRIG;
+	fbMcHalt:	MC_Halt;
+//	nstate: INT;
+//	fb_RTrig1: R_TRIG;
 	MC_ReadActualPosition: MC_ReadActualPosition;
 
 END_VAR
@@ -97,7 +97,6 @@ nAxErrId :=	stAxis.Status.ErrorID;
 fActVelo :=	stAxis.NcToPlc.ActVelo;
 fActPos  :=	stAxis.NcToPlc.ActPos;
 
-(*============TO DO MC Power===============================*)
 fbMcPower(
 	Axis			:= stAxis, 
 	Enable			:= bPowerEnable, 
@@ -143,7 +142,7 @@ fbMoveAbsolute(
 	Acceleration	:= 0, // 0 heisst default aus SystemManager "Dynamik" 
 	Deceleration	:= 0, 
 	Jerk			:= 0, 
-	BufferMode		:= , 
+	BufferMode		:= MC_BlendingNext, 
 	Options			:= , 
 	Done			=> StfbMcMoveAbsolut.Done, 
 	Busy			=> StfbMcMoveAbsolut.Busy, 
@@ -174,10 +173,16 @@ fbMcStop(
 	Error			=> st_fbMcStopOut.Error, 
 	ErrorID			=> st_fbMcStopOut.ErrorID );
 
-]]></ST>
+fbMcHalt(
+	Axis			:= stAxis, 
+	Execute			:= bHalt, 
+	Deceleration	:= 0, 
+	Jerk			:= 0,
+	BufferMode 		:= MC_Aborting);]]></ST>
     </Implementation>
     <LineIds Name="FB_Axis">
-      <LineId Id="3" Count="14" />
+      <LineId Id="3" Count="9" />
+      <LineId Id="14" Count="3" />
       <LineId Id="170" Count="1" />
       <LineId Id="20" Count="10" />
       <LineId Id="255" Count="0" />
@@ -189,7 +194,10 @@ fbMcStop(
       <LineId Id="259" Count="0" />
       <LineId Id="258" Count="0" />
       <LineId Id="260" Count="0" />
-      <LineId Id="68" Count="18" />
+      <LineId Id="68" Count="17" />
+      <LineId Id="360" Count="0" />
+      <LineId Id="365" Count="0" />
+      <LineId Id="361" Count="3" />
     </LineIds>
   </POU>
 </TcPlcObject>
\ No newline at end of file