Parker Hannifin
Pausing a Program
Pausing a program places a feed hold on the current move and
suspends the program at the current command line.
►
To suspend a currently running program, send the
PAUSE
command.
Resuming a Paused Program
Once paused, you can resume the program—motion and code
execution continue from the places at which they paused.
►
To continue program operation, send the
RESUME
command.
Affecting Multiple Programs
You can control all programs simultaneously using the
ALL
argument.
For example:
RUN ALL
,
HALT ALL
,
PAUSE ALL
, or
RESUME ALL
.
►
To control all programs, use the
ALL
argument in a command.
Kill All Motion Request vs. Kill All Moves
This section is to help clarify the difference between Kill All Motion
Request and Kill All Moves.
Kill All Motion Request (KAMR)
Kill All Motion Request (KAMR
)
is an
Axis Flag
. The setting of this flag
(e.g., Bit Index 19 of the Quaternary Axis Flags) will stop and prevent
any motion (jog, cam, gear, coordinated/master). Motion for any
other axes on the same Master will also stop and be prevented until
the flag is cleared.
This flag may be explicitly set by the user through the terminal, or
from within an AcroBASIC program, PC program, or HMI.
This flag is automatically set any time motion is “killed” on this axis.
Motion is killed when:
•
End of travel limits are encountered.
•
CTRL-X
or
CTRL-Z
is issued.
•
Drive fault is detected.
•
Excess position error is detected.
When this flag is activated (by the user or automatically by the
controller) the controller will:
•
Attempt to stop the axis using the current setting for hard limit
deceleration,
HLDEC
.
•
Use the jog profiler to generate the setpoints necessary to
bring the axis to a controlled stop. This may result in a Jog
Offset. Use the
JOG RES
command to transfer the Jog Offset to
14 Programmer’s Guide
