IAI America XSEL-KET User Manual

Page 193

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174

Part 4 Commands

INTELLIGENT ACTUATOR



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

1100

Decelerate and stop axes 3 and 4.

[Example 2]

The axis pattern can be indirectly specified using a variable. When [Example 1] is
indirectly specified using a variable.

1100 (binary)

 12 (decimal)

LET

1

12

Assign 12 to variable 1.

STOP

*1

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