IAI America XSEL-KX - Manual (Page 183)

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Part 4 Commands
 STOP (Stop movement)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command, declaration
Output
(Output, flag)
Command,
declaration
Operand 1 Operand 2
Optional Optional STOP
Axis
pattern
Prohibited CP
[Function] Decelerate and stop an axis.
(Note 1) A STOP command can be used with all active servo commands other than a SVOF
command.
(Note 2) When this command is executed for IX robots, all axes will be decelerated to a stop
regardless of the axis pattern.
(Note 3) A STOP command only issues a deceleration-stop command (operation stop) and does not
wait for stopping to complete. If other servo command is issued to a decelerating axis, the
command will either be ignored or result in an “axis duplication error,” etc.
Set a timer, etc., in the program so that the next servo command will be issued after a
sufficient deceleration-stop processing time elapses.
Even when a STOP command is to be is issued to an axis currently stopped, provide a
minimum interval of 0.1 second before the next servo command is issued.
[Example 1] STOP 1 Decelerate and stop all axes.