Stopping Motion with XPM_STP and XPM_EMG

Both XPM_STP and XPM_EMG can be used for stopping motion.

  • XPM_STP is a deceleration stop.

  • XPM_EMG is an emergency stop.

Video Tutorial

  • The deceleration time means the time required from the speed limit of the axis’s basic parameters to stop.

  • Deceleration time of 0 will use the deceleration time of the current running motion command.

  • If XPM_STP executes in speed/position synchronization or CAM operation, speed/position synchronization or CAM operation stops depending on the state of the current operation control.

Element Name Element Type Description
REQ Input Edge detected request to execute the function block
BASE Input Base number of the motion controller. Equal to 0 for built-in position control.
SLOT Input Slot number of the motion controller. Equal to 1 for built-in position control
AXIS Input Axis number to control. Set to 1 thru 6 for built-in axes. This can be a constant or variable.
DEC_TIME Input Deceleration time in milliseconds. Values: 1 ~ 2147483647 ms.
DONE Output Status that function block is done.
STAT Output Current status of the function block. Non-zero numbers will be an error or warning.

XPM_STP Example:

  • XPM_EMG is used to stop operation of an axis immediately.

  • XPM_EMG will put the axis in stopped state.

  • The deceleration time is set in the basic parameters of each axis.

  • Using XPM_EMG will cause the axis to generate error code ‘481’.

  • XPM_RST needs to be executed after executing XPM_EMG to clear the error code.

Element Name Element Type Description
REQ Input Edge detected request to execute the function block
BASE Input Base number of the motion controller. Equal to 0 for built-in position control.
SLOT Input Slot number of the motion controller. Equal to 1 for built-in position control
AXIS Input Axis number to control. Set to 1 thru 6 for built-in axes. This can be a constant or variable.
DONE Output Status that function block is done.
STAT Output Current status of the function block. Non-zero numbers will be an error or warning.

XPM_EMG Example:

 

 

 

 

 

 

 

 

 

LP520