FM-3 Programming Module Reference Manual
Stopping Motion
Motion Stop from a Program
The MotionStop command will cause all motion to stop regardless of what type of motion it is, or where it was initiated from. Upon activation of the MotionStop, all motion will begin to decelerate to a stop using the standard Stop deceleration ramp. That ramp is defined using the StopDecel parameter. MotionStop is a level sensitive command meaning that as long as it is active, all motion will be stopped and prevented from running. When MotionStop is deactivated, all motion is permitted again. Any motion that is interrupted with the MotionStop command is cancelled, and will not complete when MotionStop deactivates.
The MotionStop command DOES NOT stop any programs. All programs that are active when the MotionStop is activated will continue to run as normal.
All motion stopped using the MotionStop command will stop using a realtime deceleration ramp (even if the timebase of the motion being stopped is synchronized). This can help in applications that use synchronized motion if the master stops and then the user wishes to break out of the synch motion without performing an synchronized deceleration ramp.
Neither the CommandComplete signals from motion objects nor the ProgramComplete signals will activate if they have been stopped using the MotionStop command.
In the example below, Program 0 runs an infinite loop in which Index 5 runs and then waits for half a second and then repeats itself. When Input 2 activates, Index 5 will stop if in progress and the program will loop back to the Index.5.Initiate.
Example:
Program 0 – Running on Task 0
Do While TRUE
Index.5.Initiate
Wait For (Index.AnyCommandComplete OR MotionStop = ON)
Wait For Time 0.50 ‘Seconds
Loop
Program 1 – Running on Task 1
Wait For DriveInput.2 = ON
MotionStop = ON
Wait For DriveInput.2 = OFF
MotionStop = OFF
MotionStop for an Assignment
The MotionStop as explained above can also be initiated from an Assignment. MotionStop can be found in the Ramps group of Destinations.
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