Delta MMC120 - Manual (Page 141)

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Retracting: Going in the direction where the transducer’s counts are decreasing.
Soft Stop: An emergency stop condition where the drive ramps down to the null
drive value.
Target Generator: The part of the motion control software that determines where the axis
should be at any moment using the requested position, speed, acceleration
and deceleration provided by the user. A different target generator is used
for position control, speed control, gearing, synchronized moves and
pressure control.