Control Techniques FM-3, Reference Manual

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FM-3 Programming Module Reference Manual
Stopping Motion
Motion Stop from a Program
The MotionStop command will cause all motion to stop regardless of what type of motion it
is, or where it was initiated from. Upon activation of the MotionStop, all motion will begin to
decelerate to a stop using the standard Stop deceleration ramp. That ramp is defined using the
StopDecel parameter. MotionStop is a level sensitive command meaning that as long as it is
active, all motion will be stopped and prevented from running. When MotionStop is
deactivated, all motion is permitted again. Any motion that is interrupted with the MotionStop
command is cancelled, and will not complete when MotionStop deactivates.
The MotionStop command DOES NOT stop any programs. All programs that are active
when the MotionStop is activated will continue to run as normal.
All motion stopped using the MotionStop command will stop using a realtime deceleration
ramp (even if the timebase of the motion being stopped is synchronized). This can help in
applications that use synchronized motion if the master stops and then the user wishes to
break out of the synch motion without performing an synchronized deceleration ramp.
Neither the CommandComplete signals from motion objects nor the ProgramComplete
signals will activate if they have been stopped using the MotionStop command.
In the example below, Program 0 runs an infinite loop in which Index 5 runs and then waits
for half a second and then repeats itself. When Input 2 activates, Index 5 will stop if in
progress and the program will loop back to the Index.5.Initiate.
Example:
Program 0 – Running on Task 0
Do While TRUE
Index.5.Initiate
Wait For (Index.AnyCommandComplete OR MotionStop = ON)
Wait For Time 0.50 ‘Seconds
Loop
Program 1 – Running on Task 1
Wait For DriveInput.2 = ON
MotionStop = ON
Wait For DriveInput.2 = OFF
MotionStop = OFF
MotionStop for an Assignment
The MotionStop as explained above can also be initiated from an Assignment. MotionStop
can be found in the Ramps group of Destinations.