Rockwell Automation Publication 2080-UM002L-EN-E - November 2021 89
Chapter 7 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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