MC_Stop

The MC_Stop leads to stopping of motion and takes the axis to the "Stopping" state. The motion stop is always jerk limited with the constant set input "jerk" for the braking rate.

It aborts every ongoing command by other (SAI) motion commands.

NC command: 

<axis_name>[ MC_StopDeceleration=<expr> Jerk=<expr>]

Block diagram in PLCopen:

Input pin

Unit

MC_Stop 1:

Deceleration

[1mm/s2 or 1°/s2]

Jerk

[1m/s3 or 1000°/s3]

Programming example

S[MC_Stop 
Deceleration=999  Jerk=256]