Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 119)

Stopping or Suspending a Program • Host Language Commands (Serial) 97
Publication 1398-PM601A-EN-P — October 2000
I/O
Host Language Commands (Serial)
The following Host Language Command may be used to stop or suspend a program from executing.
Each command has various additional effects. Refer to Part 6
•
Host Language Commands, for more
detailed information.
Program Instructions
The following program instructions may be used to stop or suspend a program from executing. Each
command has various additional effects. Refer to Part 5
•
Language Reference for more detailed infor-
mation.
Fault Conditions
Normally any fault will cause the ULTRA Plus or IQ to DISABLE, stopping motion and program exe-
cution. Refer to Part 5
•
Language Reference, DISABLE for more detailed information.
On some machines you may want the ULTRA Plus or IQ to continue running even after some faults
occur. This is accomplished by setting Disable on Fault to Partial. In this case, the following faults are
disabled: Iavg fault, Motor Overtemperature, Soft Forward Limit, and Soft Reverse Limit. All faults
will cause the Error output to turn ON (if enabled). However, if Disable on Fault is set to Partial, and a
fault listed above occurs, the ULTRA Plus or IQ will remain enabled and execute motion programs nor-
mally. The Error output in this case serves as an alarm, and a programmable logic controller (PLC) or
other controller can then gracefully shut down the machine without damaging the tooling or work piece.
This setting is made in the Parameter menu, System dialog box of IQ Master, or with the FLTDIS Host
Language Command. Refer to Part 2
•
IQ Master Environment, Parameter menu, System, or to Part 6
•
Host Language Commands.
Name Description
X X-Kill motion.
DISABLE Disable the ULTRA Plus or IQ.
RESET Soft Reset the ULTRA Plus or IQ.
HRESET Hardware Reset - Simulate turning the power OFF and ON.
PAUSE The program will pause at the stop of the next motion instruction in
the program. If the PAUSE command is received during a motion
instruction the program may pause on that instruction. Refer to
Part 5
•
Language Reference, PAUSE for more detailed informa-
tion.
Name Description
ABORT Abort the execution of a program, finish the current move.
STOP Stop motion and program.
PAUSE Pause Motion. The program continues to execute until it reaches a
motion instruction.
DISABLE The DISABLE instruction will cause the program to “hang” if the
ULTRA Plus or IQ is still disabled at the next motion instruction.
PURGEMOTION Stop motion. Program continues to execute and motion statements
are ignored until PURGEMOTION is assigned a value of 0.