Difference between revisions of "MC-Basic:element.STOPTYPE"
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Stop ''G1'' StopType=3 | Stop ''G1'' StopType=3 | ||
| + | |||
| + | <!--|GRAPHS= | ||
| + | Those graphs create to illustrate the differences between the Stop Types. <br> | ||
| + | They create by using the following program, that command a '''XY''' robot to move in a circle, and stop it at the same point each round: <br> | ||
| + | |||
| + | <syntaxhighlight lang="VB"> | ||
| + | '------------------------------------------------------------------------------ | ||
| + | ' File: circle.prg | ||
| + | ' Purpose: testing StopType | ||
| + | ' Version: 1.00 | ||
| + | ' Author: Itay Kedem | ||
| + | ' Description: | ||
| + | ' History: | ||
| + | ' Created | ||
| + | '------------------------------------------------------------------------------ | ||
| + | |||
| + | program | ||
| + | attach XY | ||
| + | |||
| + | OnEvent EV1 a1.pcmd>130 scantime = 1 | ||
| + | stop XY | ||
| + | sleep 600 | ||
| + | move XY #{0,0} vcruise = 550 | ||
| + | sleep 300 | ||
| + | recordclose | ||
| + | print "record ready" | ||
| + | end OnEvent | ||
| + | |||
| + | with XY | ||
| + | attach | ||
| + | record type1.rec 10000000 recdata = a1.vcmd, a2.vCmd | ||
| + | stoptype = 1 '//can be change | ||
| + | en = 1 | ||
| + | moves #{0, 0} vcruise = 120 | ||
| + | sleep 500 | ||
| + | recordon | ||
| + | move #{50, 80} | ||
| + | sleep 500 | ||
| + | eventon EV1 | ||
| + | circle angle = -360 circlecenter = #{100, 80} circleplane = 0 vcruise = 120 | ||
| + | sleep 900 | ||
| + | move XY #{0,0} vcruise = 120 | ||
| + | sleep 600 | ||
| + | recordclose | ||
| + | detach | ||
| + | end with | ||
| + | |||
| + | end program | ||
| + | </syntaxhighlight> | ||
| + | |||
| + | |||
| + | '''Axes Position Graph'''<br> | ||
| + | |||
| + | [[image: StopType_1.png| 900px]] | ||
| + | --> | ||
|SEE ALSO= | |SEE ALSO= | ||
* [[MC-Basic:STOP|STOP]] | * [[MC-Basic:STOP|STOP]] | ||
Revision as of 14:16, 13 September 2017
This property defines how the motion is stopped in response to the STOP command. The property is used within a STOP command to override the permanent value for that STOP command.
1 - IMMEDIATE: Immediate stop using maximum deceleration.
2 - ONPATH: Immediate stop on the path of the motion. This is useful for stopping group motion so all axes remain on the original path of travel during the stop. For a single axis, IMMEDIATE and ONPATHare the same.
3 - ENDMOTION: Stop at the end of the current motion command.
4 - ABORT: Stop the current motion immediate but do not wait for proceed to start next motion. Only the accepted motion commands are stopped, the commands coming after this stoptype will be executed regularly
5 - DecStopOnPath: the stopping procedure is started immediately according to DecStop value or DecStopTran and DecStopRot values (for ROBOT ). As those parameters are modal so their values must be updated before executing the motion command. Contrary to stop immediate in this case the Robot is stopped as a whole group on the movement path.
Syntax
<element>.StopType = <expression>
?<element>.StopType
Availability
All versions
Type
Long
Range
1 to 5
Default
1
Scope
Configuration, Task or Terminal
Examples
Axis
A1.StopType = 2
Stop A1 StopType = 3
Group
G1.StopType = 2
Stop G1 StopType=3