96 Rockwell Automation Publication 2080-UM002K-EN-E - March 2019
Chapter 7 Motion Control
Example: Aborted Movement Function Block During
Acceleration/Deceleration
If MC_Halt aborts another movement function block during acceleration
and the MC_Halt Jerk input parameter is less than the Jerk of the
currently executing FB, the Jerk of the currently executing function block
is used to prevent excessively long deceleration.
Velocity
Time
Execute1
Busy
Busy
Halt Execute
CommandAborted
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