Instruction Manual

Language Reference • Reference 243

Publication 1398-PM601A-EN-P — October 2000

WORDS

PAUSE

Pause System

Purpose This instruction will cause motion to ramp to a stop and pause. Pause can also be set to

ON or OFF by the Pause input.

Syntax PAUSE = value

variable = PAUSE

value The value can be ON, OFF, a nonvolatile flag Bn, a volatile flag

Fn, or another system flag.

variable The variable may be a nonvolatile flag Bn, a volatile flag Fn, or

another system flag.

Remarks When set to ON all motion will ramp to a stop. This is a level sensitive condition. As

long as the flag is ON, the system will continue to decelerate. Once the flag is OFF the

system will accelerate back up to normal operating speed. The system may never

come to a stop if the flag is set and cleared quickly. The rate of deceleration and accel-

eration is determined by the system acceleration variable, system velocity variable,

and the present velocity.

The deceleration rate will equal:

System Velocity is the velocity set in the parameter menu, Velocity/Accel dialog box.

System Acceleration is the acceleration set in the Parameter menu, Velocity/Accel dia-

log box.

If the pause was caused by an instruction and a MOVD, MOVP or DWELL command

is executed before PAUSE is set to OFF, the program will be “hung”. Turning the

PAUSE input OFF and ON will have no effect. If this occurs do one of the following:

• Send PAUSE = OFF on serial port 2. The program will continue.

• Turn the ENABLE input OFF. The program will be aborted.

• Send ABORT on serial port 2.

• Turn the power OFF and then ON.

If the pause was caused by the PAUSE input, turning the PAUSE input OFF will cause

normal execution to return and executing PAUSE = OFF will have no effect.

After the PAUSE has been set to ON, instructions other than MOVD, MOVP, DV, DIF,

MOVV, and DWELL will execute normally. The MOVV instruction will establish a

new velocity, however no motion will begin until PAUSE is set to OFF