User guide

Chapter 3. Basic Operation Setup 111
Kill
(INFNCi-C)
An input defined as a Kill input will stop motion on all axes, the program currently in
progress will also be terminated, the commands currently in the command buffer will be
eliminated, and the drive will be left in the enabled state (DRIVE1111).
Servos: Motion is stopped at the rate set with the hard limit (LHAD& LHADA) commands.
Steppers: Motion is stopped with no deceleration ramp (CAUTION: Because there is no
deceleration ramp, the motor may stall, or the drive may fault, possibly causing
the load to free wheel—no control from the drive).
If the kill input goes active, and if error-checking bit 6 is set (ERRORxxxxx1), the error status
will be reported by bit 6 of the TERF, TER and ER commands and the error program (ERRORP)
will be executed to respond to the error condition (see page 30 for more on error programming).
Disabling the Drive on
a Kill (Servos Only)
If your application requires you to disable (shut down or de-energize) the drive in a Kill
situation, set the controller to the Disable Drive on Kill mode with the KDRIVE1 command.
In this mode, a kill command or kill input will shut down the valve or drive immediately. If
you are using a drive, the shutdown outputs are activated and the motor/load will then be
allowed to free wheel (without control from the drive) to a stop. If you are using a hydraulic
valve, the kill will set the command output to zero, causing the valve to return immediately
to the neutral (null) position and hold the load at that position. To re-enable the valve or
drive, issue the DRIVE1111 command to that axis.
Stop
(INFNCi-D)
An input defined as a Stop input will stop motion on any one or all axes. Deceleration is
controlled by the programmed AD/ADA deceleration ramp. After the Stop input is received,
further program execution is dependent upon the COMEXS command setting:
If error-checking bit
#8 is enabled (e.g.,
ERROR.8-1), then a
stop input will cause a
branch to the error
program (for more
information, see Error
Handling on page 30).
COMEXSØ: Upon receiving a stop input, motion will stop, program execution will be
terminated, and every command in the buffer will be discarded (exception: an
axis-specific stop input will not dump the command buffer).
COMEXS1: Upon receiving a stop input, motion will stop, program execution will pause, and
all commands following the command currently being executed will remain in the
command buffer (but the move in progress will not be saved).
You can resume program execution (but not the move in progress) by issuing an
immediate Continue (!C) command or by activating a pause/resume input (i.e., a
general-purpose input configured as a pause/continue input with the INFNCi-E
command—see below). You cannot resume program execution while the move in
progress is decelerating.
COMEXS2: Upon receiving a stop input, motion will stop, program execution will be
terminated, but the INSELP value is retained. This allows external program
selection, via inputs defined with the INFNCi-B or INFNCi-aP commands, to
continue.
Pause/Continue
(INFNCi-E)
An input defined as a Pause/Continue input will affect motion and program execution
depending on the COMEXR command setting, as described below. In both cases, when the
input is activated, the current command being processed will be allowed to finish executing
before the program is paused.
COMEXRØ: Upon receiving a pause input, only program execution will be paused; any motion
in progress will continue to its predetermined destination. Releasing the pause
input or issuing a !C command will resume program execution.
COMEXR1: Upon receiving a pause input, both motion and program execution will be paused;
the motion stop function is used to halt motion. Releasing the pause input or
issuing a !C command will resume motion and program execution. You cannot
resume program execution while the move in progress is decelerating.