IAI America ASEL - Manual (Page 177)

Part 2 Programs
Chapter 3 Explanation of Commands
155
Part 2 Programs
z CANC (Cancel: Declare axis port to abort)
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 CANC
(Input port,
global flag)
(CANC
type)
CP
[Function] Declare an input port or global flag to abort while a servo command is being executed.
When operation is performed on the input port or global flag specified in operand 1, the
current servo processing will be aborted. (If the axes are moving, they will decelerate to a
stop before the processing is aborted.)
If nothing is specified in operand 1, the current abort declaration will become invalid.
A CANC type can be specified in operand 2.
[CANC type]
0 = Contact a (Deceleration stop)
1 = Contact b (Deceleration stop)
The CANC type is set to “0” (contact a) when the program is started.
If nothing is specified in operand 2, the current CANC type will be used.
(Note 1) The input port or global flag specified by a CANC command will only abort the axes used in
the task (program) in which the CANC is declared. The declaration will not be valid on axes
used in different tasks (programs).
(Note 2) An input port or global flag to pause is valid for all active servo commands other than a SVOF
command. (A deceleration stop will also be triggered in JXWX and PATH operations.)
[Example] CANC 14 0 The axes will decelerate to a stop when input port 14 turns
ON.
Not executed.
Input port 14 ON
Movement is complete.
Remaining operation
V
T