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]