168 Rockwell Automation Publication 2080-UM002N-EN-E - November 2022
Chapter 9 Motion Control
Example: Successful Aborted Move
Example: Changing Velocity With No Abort
When changing velocity, generally, an aborted move is not necessary since the function block
is only Busy during acceleration (or deceleration). Only a single instance of the function block
is required.
To bring the axis to a standstill, use MC_Halt.
Velocity
Time
Execute1
Busy1
CommandAborted1
Execute2
Busy2
Aborted move is possible if using two
instances of MC_MoveRelative,
MC_MoveAbsolute. The second instance
can immediately abort the first instance
(and vice versa) for applications where on-
the-fly corrections are needed.
Velocity
Time
Execute1
Busy
Busy
Halt Execute
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