IAI America XSEL-KE - Manual (Page 313)

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Appendix
16. Aborting of Operation 1 (CANC)
Description
Use the declaration command CANC to decelerate the moving axis to a stop and cancel the remaining
operation.
How to Use
While the CANC signal is input, the axes moving under all move commands in the same program are
aborted.
Example of Use
CANC command
CANC 20 When input port 20 turns ON, the move command is aborted (declaration).
MOVP 1
MOVP 2
WTON 21
* Declare this command before the applicable move command.
* While the CANC signal is input, all operation commands are cancelled sequentially and non-operation
commands (I/O processing, calculation processing, etc.) are executed sequentially.
Note
Since the current step in the program can no longer be identified, it is recommended that an input wait
step be created using a WTON command.
Application
When operand 2 is used with a CANC command, you can select a desired input signal pattern.
0 = Contact a (Deceleration to stop) Ÿ Same as when operand 2 is not specified
1 = Contact b (Deceleration to stop)
Input port 20 ON
Remaining
operation Speed
o
Time o
This operation is cancelled.