Omron trajexia CJ1W-MCH72, Operation Manual

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All BASIC commands Section 4-2
222
4-2-195 RAPIDSTOP
/i
/i
Type Axis command
Syntax RAPIDSTOP
RS
Description The RAPIDSTOP command cancels the current move on all axes from
the current move buffer ( MTYPE ). Moves for speed profiled move com-
mands ( MOVE , MOVEABS , MOVEMODIFY , FORWARD , REVERSE ,
MOVECIRC and MHELICAL ) will decelerate to a stop with the deceler-
ation rate as set by the DECEL parameter. Moves for other commands
will be immediately stopped.
Notes:
•
RAPIDSTOP cancels only the presently executing moves. If further
moves are buffered in the next move buffers ( NTYPE ) or the task
buffers they will then be loaded.
• During the deceleration of the current moves additional
RAPIDSTOP s will be ignored.
Arguments N/A
Example This example shows the implementation of a stop override button that
cuts out all motion.
CONNECT (1,0) AXIS(1) 'axis 1 follows axis 0
BASE(0)
REPAEAT
MOVE(1000) AXIS (0)
MOVE(-100000) AXIS (0)
MOVE(100000) AXIS (0)
UNTIL IN (2)=OFF 'stop button pressed?
RAPIDSTOP
WA(10) 'wait to allow running move to cancel
RAPIDSTOP 'cancel the second buffered move
WA(10)
RAPIDSTOP 'cancel the third buffered move