Omron TJ2-MC64 - PROGRAMMING Programming Manual page 173

BASIC commands
3.2.236 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 commands
(MOVE, MOVEABS, MOVEMODIFY, FORWARD, REVERSE, MOVECIRC
and MHELICAL) will decelerate to a stop with the deceleration 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 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)
REPEAT
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
PROGRAMMING MANUAL
fig. 54
167