Panasonic GM1 - Stop

In the GM1 controller, "PMC_SetTorque" is executed in torque control mode (Default: Position
control mode).
In the program example,
"SMC_SetControllerMode" is used to switch to torque control mode
(SMC_torque).
The torque value is changed at the rising edge of the "Execute" flag.
To change the torque value ("fTorque") during operation, temporarily set the "Execute" flag to
FALSE beforehand. After parameter settings have been changed, if the "Execute" flag is set
back to TRUE, the changed parameter settings will be applied.
"MC_ReadActualTorque" is a function block that acquires the actual torque value of the axis.
For details on each function block, refer to the GM1 Series Reference Manual (Instruction).
● In the torque control mode (SMC_torque), the axis cannot be stopped using "MC_Stop".
●
To stop the axis, set "fTorque" to 0 and execute again.
11.3.6 Stop
This function stops the motor.
Stop can be executed with the
"MC_Halt" or "MC_Stop" function block.
■
Explanation of functions
● MC_Halt: Allows the user to execute another function block during stop processing.
● MC_Stop: Does not allow the user to execute another function block during stop processing.
When input "Execute" is set to FALSE, this function allows the user to execute another
function block.
● You can specify deceleration ("Deceleration", unit: u/s
2
) and jerk ("Jerk", unit: u/s
3
) that are
used during stop processing.
■
Program examples
The following is an ST program example.
11.3 Single-axis Operation
11-38 WUME-GM1RTXOP-01