Iai-america XSEL-KE Manuel d'utilisateur télécharger pdf (Page 161)

146

Part 4 Commands

z CANC (Cancel: Declare axis port to abort)

Command, declaration

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Command,

declaration

Operand 1 Operand 2

Output

(Output, flag)

Optional Optional CANC

(Input port,

global flag)

(CANC

type)

[Function] Declare an input port or global flag to abort while a servo command is being executed.

When operation is performed on the input port or global flag specified in operand 1, the

current servo processing will be aborted. (If the axes are moving, they will decelerate to a

stop before the processing is aborted.)

If nothing is specified in operand 1, the current abort declaration will become invalid.

If the main application version is 0.26 or later, a CANC type can be specified in operand 2.

[CANC type]

0 = Contact a (Deceleration stop)

1 = Contact b (Deceleration stop)

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If nothing is specified in operand 2, the current CANC type will be used.

If the main application version is 0.25 or earlier, specification of operand 2 is prohibited.

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(Note 1) The input port or global flag specified by a CANC command will only abort the axes used in

the task (program) in which the CANC is declared. The declaration will not be valid on axes

used in different tasks (programs).

(Note 2) An input port or global flag to pause is valid for all active servo commands other than a SVOF

command. (A deceleration stop will also be triggered in JXWX and PATH operations.)

[Example] CANC 14 0 The axes will decelerate to a stop when input port 14 turns

ON.

Not executed.

Input port 14 ON

Movement is complete.

Remaining operation

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Iai-america XSEL-KE Manuel d'utilisateur Page 161