Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification
292
This command causes all closed-loop motors defined in the addressed coordinate system to begin
immediately to decelerate to a stop, aborting the currently running motion program (if any). It also brings
any open-loop enabled motors in the coordinate system to an enabled zero-velocity closed-loop state at
the present position. If global I-variable I36 is set to 0, it will also enable any disabled motors in the
coordinate system, bringing them to a zero-velocity closed-loop state at the present position. However if
I36 is set to 1, it will have no effect on disabled motors; the E command should be used for these instead.
immediately to decelerate to a stop, aborting the currently running motion program (if any). It also brings
any open-loop enabled motors in the coordinate system to an enabled zero-velocity closed-loop state at
the present position. If global I-variable I36 is set to 0, it will also enable any disabled motors in the
coordinate system, bringing them to a zero-velocity closed-loop state at the present position. However if
I36 is set to 1, it will have no effect on disabled motors; the E command should be used for these instead.
Each closed-loop motor in the coordinate system will decelerate from its present command velocity to
zero velocity at a rate defined by its own motor I-variable Ixx15. Note that a multi-axis system may not
stay on its programmed path during this deceleration. If the time-base (override) value for the coordinate
system is exactly 0% when the A command is given, the motor will abort at the present position even if
the command velocity is not zero; otherwise a ramp-down trajectory will be computed using Ixx15 and
executed using the override value.
zero velocity at a rate defined by its own motor I-variable Ixx15. Note that a multi-axis system may not
stay on its programmed path during this deceleration. If the time-base (override) value for the coordinate
system is exactly 0% when the A command is given, the motor will abort at the present position even if
the command velocity is not zero; otherwise a ramp-down trajectory will be computed using Ixx15 and
executed using the override value.
An A (abort) stop to a program is not meant to be recovered from gracefully, because the axes will in
general not stop at a programmed point. An on-line J= command may be issued to each motor to cause it
to move to the end point that was programmed when the abort occurred. Then the program(s) can be
resumed with an R (run) command.
general not stop at a programmed point. An on-line J= command may be issued to each motor to cause it
to move to the end point that was programmed when the abort occurred. Then the program(s) can be
resumed with an R (run) command.
To stop a motion sequence in a manner that can be recovered from easily, use instead the Quit (Q or
<CTRL-Q>), the Hold (H or <CTRL-O>), the Quick Stop (\) or the Halt (/) commands.
<CTRL-Q>), the Hold (H or <CTRL-O>), the Quick Stop (\) or the Halt (/) commands.
Example
B1R ..................
; Start Motion Program 1
A ......................
; Abort the program
#1J=#2J= ......
; Jog motors to original move-end position
R ......................
; Resume program with next move
See Also
Stop Commands (Making Your Application Safe)
Control-Panel Port STOP/ Input (Connecting Turbo PMAC to the Machine)
I-variables I36, Ixx15, Ixx80
On-line commands <CTRL-A>, <CTRL-E>, E, H, J/, K, Q
JPAN connector pin 10
Control-Panel Port STOP/ Input (Connecting Turbo PMAC to the Machine)
I-variables I36, Ixx15, Ixx80
On-line commands <CTRL-A>, <CTRL-E>, E, H, J/, K, Q
JPAN connector pin 10
ABR[{constant}]
Function:
Abort currently running motion program and start another
Scope:
Coordinate-system specific
Syntax:
ABR[{constant}]
where:
{constant} is a numerical value whose integer part specifies the number of the program to be run,
and whose fractional part (if any) specifies the line label of that program where execution is to begin.
and whose fractional part (if any) specifies the line label of that program where execution is to begin.
The ABR command permits a very quick end to the execution of one motion program and starting (or
restarting) of another (or the same) motion program. It performs the following tasks for the addressed
coordinate system, all in a unitary command:
restarting) of another (or the same) motion program. It performs the following tasks for the addressed
coordinate system, all in a unitary command:
It immediately stops execution of the currently running motion program in the addressed coordinate
system.
system.