IAI America ASEL - Manual (Page 307)

Part 2 Programs
Chapter 10 Example of Building a System
285
Part 2 Programs
17. Canceling the Operation 2 (STOP)
Description
Decelerate the moving axis to a stop and cancel the remaining operation. (STOP)
How to Use
Execute a STOP command from other program to forcibly stop the operation (in the multi-tasking mode).
Specify the axis you want to stop using an axis pattern.
Example of Use 1
STOP command
Main program Stop control program
If “STOP 11” is executed while “MOVL 1” is being executed, “MOVL 1” will be cancelled and the actuator
will continue its operation from “MOVL 2.”
Example of Use 2
Main program Stop control program
If “STOP 10” is executed while “MOVL 1” is being executed, only the axis 2 part of “MOVL 1” will be
cancelled. Both axes 1 and 2 will operate under “MOVL 2.”
Caution
If a STOP command is executed during a CP operation (interpolation operation) initiated by MOVL, etc.,
the operations of all axes will be cancelled regardless of the axis pattern specified in the STOP command.
Speed
Input port 15 ON
Remaining
operation
Time
The operation within this range
is cancelled.
The stop program starts. Wait for stop input.
Axes 1 and 2 stop.
The stop program starts. Wait for stop input.
Axis 2 stops.