Rockwell Automation 2080-LC50 Micro830 and Micro850 Programmable Controllers User Manual - Manual (Page 89)

Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 75
Motion Control with PTO and PWM Chapter 7
It is possible for the movement function blocks and MC_Halt to abort another
motion function block during acceleration/deceleration. This is not
recommended as the resulting motion profile may not be consistent.
ATTENTION: If MC_Halt aborts another motion function block during
acceleration and the MC_Halt Jerk input parameter is less than the Jerk
of the currently executing function block, the Jerk of the currently
executing function block is used to prevent an excessively long
deceleration.
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Execute1
Busy
Busy
Halt Execute
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