Omron NJ501-1300, User Manual

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9 Motion Control Functions
9-8
NJ-series CPU Unit Motion Control User’s Manual (W507)
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Stopping Due to End of MC Test Run
All axes will decelerate to a stop at their maximum deceleration if a MC Test Run is stopped from the
Sysmac Studio.
• Click the Stop MC Test Run Button on the MC Test Run Tab Page of the Sysmac Studio.
• Close the MC Test Run Tab Page on the Sysmac Studio.
• Exit the Sysmac Studio.
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Stopping Due to Change in CPU Unit Operating Mode
All axes will decelerate to a stop at their maximum deceleration if the CPU Unit operating mode
changes.
Additional Information
• When RUN mode changes to PROGRAM mode, any motion control instructions for current
motions are aborted. The
CommandAborted output variable from the instructions remains
FALSE. The Servo remains ON even after changing to PROGRAM mode.
• If the operating mode returns to RUN mode while a deceleration stop is in progress after the
operating mode changes from RUN to PROGRAM mode, the output variables from motion
control instructions are cleared. The
CommandAborted output variables from the motion con-
trol instructions therefore remain FALSE.
• The save process will continue during a save for the MC_SaveCamTable Instruction.
• Deceleration Stop
• Immediate Stop
Stop Method
Velocity
Time
Axis stops at the deceleration rate that
is specified for the instruction or at the
maximum deceleration rate.
Velocity
Time
The command is no longer updated. The
axis moves only for the pulses remaining in
the Servo Drive and then stops. The stop
position is the command position when the
cause of the immediate stop occurred.