IAI PSEL, Operation Manual

Page: 623 / 1062

3. Program
129
3.5.14 Canceling the Operation
[1] Description
Use a declaration command CANC to decelerate the moving axis to a stop and cancel the
remaining operation.
[2] Example of Use
While CANC is input, all movement commands in the same program are cancelled.
CANC command
CANC 20 Cancel the movement commands if input port 20 turns ON (declaration).
:
MOVP 1
MOVP 2
:
WTON 21
:
* Declare this command in a step before the movement commands you want to cancel.
* While CANC is input, all operation commands are cancelled sequentially, while tasks
other than operation commands (such as I/O processing and calculation processing) are
executed sequentially.
A desired input signal pattern can be selected for a CANC command using Operand 2.
0 = Contact a (Decelerates to a stop)
Ÿ
Same as when Operand 2 is not specified.
1 = Contact b (Decelerates to a stop)
[3] Note
It is recommended that you use a WTON command to create an input waiting step, because
otherwise you cannot specify which of the program steps the actuator is currently executing.
Application
n
Speed
Time
o
Input port 20 ON
Remaining
operation
The operation within this
range is cancelled.