IAI PSEL, Operation Manual

Page: 855 / 1062

[12]
Actuator Control Command
361
z
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)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional STOP Axis pattern Prohibited CP
Applicable models
All models [Refer to Section 5.1 for details of models]
{
[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) With a SCARA robots, all axes are decelerated to a stop regardless of the axis
pattern.
(Note 3) The STOP command only issues a deceleration stop (operation cancellation)
command and the program does not wait for completion of stopping. If other
servo command is issued while the axes are stopping, the command becomes
invalid or an “axis multiple-use” or other error occurs.
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 0.1sec before the next servo command is issued.
(Other than SCARA robots)
[Example 1]
STOP 11 Decelerate and stop axes 1 and 2.
[Example 2] The axis pattern can be specified indirectly using a variable.
When the command in [Example 1] is rephrased based on indirect
specification using a variable:
11 (binary)
o
3 (decimal)
LET 1 3 Assign 3 to variable 1.
STOP *1
(SCARA robot)
[Example 1] STOP 1 Decelerate the SCARA axes to a stop.