Rockwell Automation Publication 2080-UM002K-EN-E - March 2019 95
Motion Control Chapter 7
It is possible for the movement function blocks and MC_Halt to abort another
motion function block during acceleration/deceleration. This is not
recommended as the resulting motion profile may not be consistent.
ATTENTION: If MC_Halt aborts another motion function block during
acceleration and the MC_Halt Jerk input parameter is less than the Jerk
of the currently executing function block, the Jerk of the currently
executing function block is used to prevent an excessively long
deceleration.
Velocity
Time
Execute1
Busy
Busy
Halt Execute
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