Chapter 7 Program
(1) Command condition
: It is a condition to give emergency stop/axis stop commands to the axis.
(2) Axis connection state flag
: In case the axis to be operated is connected to motion control module, and EtherCAT communication with motion control
module is normally performed, it is On.
(3) Axis error/warning status flag
: If there are errors and warning in the axis, it is On.
(4) Axis operation status flag
: If the axis is in operation, it is On.
(5) 1-axis emergency stop / 2-axis axis stop commands
: In example programs, immediate stop (MC_Stop) motion function block is executed in 1-axis, and halt (MC_Halt) motion
function block is executed in 2-axis under the following conditions.
- The axis stop condition is On.
- The axis is normally connected.
- There should be no errors and warnings.
- In operation
Conditions to perform motion function block may vary depending on systems.
(6) Axis stop command input variables
: These are input variables to execute Halt (MC_Halt) motion function block.
- Command axis: It sets the axis in which motion function block is executed.
- Stop deceleration: Its sets deceleration from operating speed at the time of axis stop to a stop.
- Stop jerk: it sets the jerk at the stop time.
- Buffer mode: It sets the point of time when motion function block is executed. That is, it sets whether to execute immediately
or execute after the completion of commands which are currently being performed. For details, refer to “6.1.4 Buffer Mode
input”.
(7) Emergency stop command output variables
: It is a variable to store output values generated when Immediate Stop (MC_Stop) motion function block is executed.
- Execution completed: In case the axis stop, it is On.
- Function Block in execution: If motion function block is being performed, it is On, and execution is completed, it becomes Off.
- Error occurrence state: In case error occurs while the motion function block is being executed, it is On.
- Error number: In case error occurs, the number that corresponds to error is generated.
- For more details on the output of motion function block, refer to “Edge operation motion function block” of “6.1.3 Basic I/O
Variable.
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