IAI America TT-C3 - Manual (Page 167)

157
INTELLIGENT ACTUATOR
Chapter 4 Commands
2.
Explanation
of
Commands
z STOP (Stop movement)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional STOP Axis pattern Prohibited CP
[Function] Decelerate and stop the axes specified by the axis pattern in operand 1.
(Note 1) A STOP command can be used with all active servo commands other than a SVOF
command.
(Note 2) A STOP command only issues a deceleration-stop command (operation stop) to a specified
axis pattern and does not wait for stopping to complete. Issuing other servo commands to a
decelerating axis will either become invalid or generate an “axis duplication error,” etc.
Set a timer, etc., in the program so that the next servo command will be issued after a
sufficient deceleration-stop processing time elapses.
Even when a STOP command is to be issued to an axis currently stopped, provide a
minimum interval of 0.1 second before the next servo command is issued.
[Example 1] STOP 100 Decelerate and stop axis 3.
[Example 2] The axis pattern can be specified indirectly using a variable.
When the command in [Example 1] is rephrased based on indirect specification using
a variable:
100 (binary)
o 4 (decimal)
LET 1 12 Assign 4 to variable 1.
STOP *1