Omron SYSMAC CJ Operation Manual page 233

All BASIC commands
4-2-192 RAPIDSTOP
/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
RAPIDSTOPs will be ignored.
Arguments N/A
/i
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
the deceleration of
Section 4-2
the current moves additional
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