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S
Stop Motion
Type
Motion
Syntax
<a_><!>S<b>
Units
n/a
Range
b = 0 (do not stop) or 1 (stop)
Default
1
Response
!S:
No response, instead motion is stopped.
See Also
C, COMEXC, COMEXS, GO, K
The Stop
command instructs the motor to stop motion. The
(S)
the last deceleration values (
Since all commands are buffered, the next command does not begin until the previous
command has finished. This is important because if you place a Stop (S) command after a
Go (GO) command in a program, the Stop command will have no effect. For the Stop
command to have an effect within a program, continuous command processing mode must
be enabled (COMEXC1). If the Stop (S) command is to be used external to the program, the
immediate command identifier must be used (!S or !S1).
Effect of COMEXS:
: Under factory default conditions (
COMEXS0
, or
) or a stop input (input assigned a stop function with
S1
!S1
happen:
• Motion decelerates to a stop, using the present
motion profile cannot be resumed.
• All commands in the Gem6K's command buffer are discarded.
• Program execution is terminated and cannot be resumed.
: Using the
COMEXS1
COMEXS1
depending on the stop method (see table below).
Stop Method
!S or S
!S1 or S1
Stop input
Pause input *
(if COMEXR1)
Pause input *
(if COMEXR0)
* A Pause input is an input configured with the INFNCi-E command. This is also the Resume input that can be
used to resume motion and program execution after a stop.
: Using the
COMEXS2
COMEXS2
exception that you can still use the program-select inputs to select programs (
retained). The program-select input functions are: BCD select (
). For further details on program selection with inputs, refer to
(INFNCi-P
Example:
GO1
; Initiate motion
!S
; Stop motion (must use "!S" to stop motion in progress)
and
) entered.
AD
ADA
NOTE
), when the Gem6K receives a stop command (
COMEXS0
mode, the Gem6K allows more flexibility in responding to stop conditions,
Resume Motion Profile.
(Allow resume with a !C
What Stops?
command or a resume
Motion
Program
input * )
Yes
Yes
Yes
Yes
No
No
Yes
No
No
Yes
Yes
Yes
No
Yes
No
mode, the Gem6K responds as it does in the
www.comoso.com
Product
GT6K
GV6K
command will bring the axis to rest using
S
), the following will
INFNCi-D
and
deceleration values. The
AD
ADA
Save Command Buffer.
Resume Program.
(Save the commands that
(Allow resume with a
were in the command
buffer when the stop was
!C command or a
commanded)
resume input * )
Yes
Yes
No
Yes
No
Yes
Yes
Yes
Yes
Yes
mode, with the
COMEXS0
INSELP
INFNCi-B), and one-to-one select
INFNC
Command Descriptions
Rev
6.0
6.0
,
,
S
!S
value is
and
.
INSELP
251
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