Rockwell Automation Publication 2080-UM002N-EN-E - November 2022 169
Chapter 9 Motion Control
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.
Example: Aborted Movement Function Block During Acceleration/Deceleration
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.
IMPORTANT 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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