IAI America XSEL-QX - Manual (Page 261)

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Part 4 Commands
z STOP (Stop movement)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional STOP
Axis
pattern
Prohibited CP
[Function] Decelerate an axis to a stop.
(Note 1) A STOP command can be used with all active servo commands other than a SVOF
command.
(Note 2) With SCARA, 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. Issuing other servo commands to a decelerating axis will
either become invalid or generate 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 SCARA axes to a stop.
[Example 2] STOP 110000 Decelerate linear movement axes (axes 5 and 6) to a
stop.