Rockwell Automation Publication 2080-UM002M-EN-E - April 2022 157
Chapter 8 Motion Control
Immediate Soft Stop
The maximum possible response delay for this type of stop could be as much as
the Motion Engine Execution time interval. This type of stop is applicable in
the following scenarios:
•During motion, when axis PTO Pulse Limit is reached;
• One Hard Limit is enabled for an axis, but Hard Stop on Hard Limit
switch is configured as Off. If the Emergency Stop is configured as
Immediate Software Stop, during motion, when the Hard Limit switch is
detected;
• One Soft Limit is enabled for an axis and the axis has been homed. If the
emergency stop is configured as Immediate Soft Stop, during motion,
when the Soft Limit reach is detected;
• The Emergency Stop is configured as Immediate Soft Stop. During
motion, MC_Stop function block is issued with Deceleration parameter
equal to 0.
Decelerating Soft Stop
Decelerating soft stop could be delayed as much as Motion Engine Execution
Time interval. This type of stop is applied in the following scenarios:
• One Hard Limit is enabled for an axis, but Hard Stop on Hard Limit
switch is configured as Off. If the emergency stop is configured as
decelerating stop, during motion, when the Hard Limit switch is
detected;
• One Soft Limit is enabled for an axis and the axis has been homed. If the
emergency stop is configured as decelerating stop, during motion, when
the soft limit reach is detected by firmware;
• The Emergency Stop is configured as Decelerating Stop. During motion,
the MC_Stop function block is issued with deceleration parameter set
to 0.
• During motion, MC_Stop function block is issued with Deceleration
parameter not set to 0.
Motion Direction
For distance (position) motion, with the target position defined (absolute or
relative), the direction input is ignored.
For velocity motion, direction input value can be positive (1), current (0) or
negative (-1). For any other value, only the sign (whether positive or negative) is
considered and defines whether the direction is positive or negative. This
means that if the product of velocity and direction is -3, then direction type is
negative.
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