Rockwell Automation 1771-QC , D17716.5.25 SER/B SERVO POS - Manual (Page 128)

Formatting and Interpreting Data Blocks
Chapter 7
7Ć46
The PC processor transfers the escape moveset block to the 1771-M3
controller at power up and after a reset or escape command is executed.
When it receives the escape moveset block, the 1771-M3 controller
immediately transfer the escape moveset block to the 1771-ES expander,
which stores it on-board. The escape move is not executed unless you
issue an escape command via the command block.
When you issue the escape command, the 1771-ES expander executes the
escape move previously stored on-board. If another move is being
executed when you issue the escape command, the 1771-ES expander
stops executing the current move and starts to execute the escape move.
Immediately after you issue the escape command, the 1771-M3 controller
requests transfer of the moveset for that axis controller requests transfer of
the moveset for that axis identified in the parameter block. If this is still
an escape block, the 1771-M3 controller transfers it to the 1771-ES
expander for storage and requests transfer of another moveset from the PC
processor. The moveset requested is the one specified by the next
moveset pointer of the escape moveset. If you issue a command such as
start, begin, or next-move after execution of the escape moveset is
completed, the axis begins executing the moveset that was transferred.
You can issue a slide stop, hardware stop, or software stop command to
stop an escape move in progress.
When the escape move bit is on, the 1771-M3 controller ignores the
setting of the end of program bit in the MCW (bit 14).
Bit 14 End of Program
If you turn on bit 14, the 1771-M3 controller stops move execution after it
completes execution of the current moveset block. The 1771-M3
controller does not look for a next moveset pointer. You must issue a
begin command to repeat execution of the profile. If you issue a start or
next-move command, the 1771-M3 controller turns on the insufficient
data bit in the status block.
The insufficient data bit goes on also if you issue the escape command
when no escape move has been programmed. However, an escape
command causes a request for the moveset block identified in the
parameter block for the axis.