Danaher Motion 06/2005 Single-Axis Motion
M-SS-005-03 Rev E 89
The following axis properties can be overridden as part of JOG:
TIMEJOG
ACCELERATION
DECELERATION
SMOOTHFACTOR
JERK
VELOCITYRATE
ACCELERATIONRATE
DECELERATIONRATE
JERKRATE
4.1.6. Stop
STOP stops motion in the motion buffer. In the command, you must specify
the axis. For example:
Stop ConveyorAxis
Normally, STOP is set to stop motion immediately at the rate of
DECELERATIONMAX. However, you can modify the effects of STOP with
STOPTYPE. STOPTYPE can take three values:
StopType = Immediate or IMMED
Stop axis immediately at DECELERATIONMAX rate
StopType = EndMotion
Stop axis at end of current motion command and clear buffered motion
StopType = Abort
Stop the current motion immediately without ability to restore the
stopped movements. Only the current motion command is stopped, the
commands coming after are generated.
STOPTYPE defaults to IMMED. If STOPTYPE = ENDMOTION, the current
move is completed before STOP is executed. For JOG with TIMEJOG = -1
(continue indefinitely), STOPTYPE = ENDMOTION has no meaning because
JOG never ends. During STOP, the current and pending movements in the
buffer are stored to allow recovery of these movement using PROCEED.
STOP uses the modal maximum deceleration and maximum jerk.
STOPTYPE is overridden as part of a STOP.
4.1.7. Proceed
When a task stops motion in axes it has attached, restarting the motion is
simple. The logic is contained inside the task. However, when motion is
stopped from another task, the situation is more complex. For example, the
system should prevent any task from restarting the motion except the task
that stopped it. To control the restarting of motion after a STOP, the MC
supports PROCEED.
