Vector VEC-VA Series, Programming Manual

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VA Motion Controller Programming Manual
351
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Case 2 : When the Execute is TRUE, the instruction is interrupted after the other instructions,
CommandAborted becomes TRUE, and the Busy Active becomes FALSE; Execute when a
TRUE to FALSE, after a period CommandAborted becomes FALSE.

Case 3 : After during instruction execution, Execute a TRUE to FALSE, when positioning is
completed, Done becomes TRUE, and the Busy Active becomes FALSE, and after a period,
Done becomes FALSE.
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Function Description

MC_Stop instruction execution is completed, the shaft speed falls to zero as long as
Excute is TRUE, it has been Stopping axis status, other motion instructions can not be
executed at this time.

And comparing MC_Halt instructions, instruction MC_Stop lock shaft, the
controller can not perform another movement instruction (instruction not included MC_Stop)
MC_Stop during execution of instructions. After MC_Stop instruction has completed, the
shaft has stopped, the controller can not execute other instruction motion, only when the
MC_Stop Excute by TRUE to FALSE in order to execute other instruction motion
Program Example
MC_Stop example below when instruction execution:
1, Variables, and the program name
variable name type of data The initial value
MC_MoveVeleocity_7 MC_MoveVelocity -
AXIF_vel USINT 0
vel_ex BOOL FALSE
Vel_v LREAL 10000.0
Vel_acc LREAL 5000.0
Vel_dec LREAL 5000.0
Vel_jerk LREAL 5000.0
Vel_Dir INT 1
Vel_BM INT 0
Invelocity BOOL
Vel_Bsy BOOL
Vel_Act BOOL
Vel_Abt BOOL
MC_Stop_7 MC_Stop
AXIF0 USINT 0
STOP_EX BOOL FALSE
STOP_DEC LREAL 5000.0
STOP_JERK LREAL 5000.0
STOP_Done BOOL
STOP_Busy BOOL
STOP_Act BOOL
STOP_Abt BOOL