ACR-MOTIONMAX Installation Guide
23
9330 SET CTLTDone: REM Set TDone
9390 RETURN
Step 15. Edit the Emergency Stop Function
This Subroutine is called by the

General Handler of Program 1,

L

ine 10000 & 10012

when the
Estop Button is Pressed.

KeyBit = Estop (Bit 129) of the Control Signals

The ACR-MOTIONMAX GUI uses this signal for Emergency Stop Status display to the
Operator
If this bit = 1 then the Emergency Stop Indicator at the bottom of ACR-MOTIONMAX will
blink.
If this bit = 0 then the Emergency Stop Indicator at the bottom of ACR-MOTIONMAX will
clear.
Program1:
REM ****************************
REM ***

General Control Loop

***
REM ****************************
REM ~ Set EMERGENCY STOP
10000 IF (NOT INPConsoleEstop AND NOT CTLEStop) THEN GOSUB 40000
REM ~ Clear EMERGENCY STOP
10010 IF (INPConsoleEstop AND CTLEStop) THEN CLR CTLEStop: CLR 522: DWL 1
REM *******************************
REM *** EMERGENCY STOP FUNCTION ***
REM *******************************
40000 SET CTLEStop: AXIS5 OFF: P6480= 0: CLR 190: SET 523
40001 CLR 150: CLR 151: CLR 152: SET 147: SET 148: SET 149
40002 SET CTLReset: CLR CTLHomeXDone: CLR CTLHomeYDone: CLR CTLHomeZDone: CLR
CTLHomeADone
40003 RES AXIS0 AXIS1 AXIS2 AXIS3 AXIS4: P10= 0
40005 P4156= 0: P4157= 0: P4158= 0: P4159= 0
40006 P10= 0
40007 CLR CTLUserErrorReq: P4156= 0: P4157= 0: P4158= 0 : P4159= 0

Insert Your Emergency Stop Code Here

40008 RETURN