Yaskawa LEGEND-MC - Manual (Page 63)

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LEGEND-MC User’s Manual
AB (Abort)
[Motion]
DESCRIPTION:
AB (Abort) stops motion instantly without controlled deceleration by freezing the profiler. If there is a
program executing, AB also aborts the program unless a 1 argument is specified. The command, AB, will
shut off the motors (disable the amplifier) for any axis in which the off-on-error function is enabled (see
command "OE"). AB aborts motion on all axes in motion and cannot stop individual axes. If a multi-axis
system is configured (distributed control) the AB command will abort all axes if issued to the master.
ARGUMENTS: AB n where
n = 0 aborts motion and program
n = 1 aborts motion without aborting program
n = 2 aborts motion on all axes that are connected via ethernet, does not cause error for axes that have lost
connection.
USAGE:
OPERAND USAGE:
_AB returns the state of the Abort Input on the local controller.
RELATED COMMANDS:
EXAMPLES:
NOTE: Use parameter 1 following AB if you want the motion to be aborted or application program will be aborted.
While Moving Yes Default Value n/a
In a Program Yes Default Format n/a
Command Line Yes
Can be Interrogated Yes
Used as an Operand Yes Distributed Control Out to all axes
"SH" Turns servos back on if they were shut-off by
Abort and OE1.
OE 0,0,0,0 Disable OFF/ON error for all axes
AB Aborts motion unconditionally, motors remain
enabled
OE 1,1,1,1 Enable off-on-error
AB Shuts off amplifier enable and aborts motion
#A Label - Start of program
JG 20000 Specify jog speed on X-axis
BGX Begin jog on X-axis
WT 5000 Wait 5000 msec
AB1 Abort motion without aborting program
WT 5000 Wait 5000 milliseconds
SH Servo Here
JP #A Jump to Label A
EN End of the routine