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.

  • XPM_EMG will cause an axis error. This must be reset with XPM_RST.

  • XPM_ECON and XPM_SVON must be executed before using XPM_STP or XPM_EMG.

  • These examples are in Scan program LP630_XPM_STP_EMG_Example in OnlineHelp_ECAT_Example.

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. Set to 0.
SLOT Input Slot number of the motion controller. Set to the slot number of the XBF-PN04B or XBF-PN08B module.
AXIS Input Axis number to control. XBF-PN04B:1~4, XBF-PN08B:1~8
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_STP Example XG-PM Monitoring

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. Set to 0.
SLOT Input Slot number of the motion controller. Set to the slot number of the XBF-PN04B or XBF-PN08B module.
AXIS Input Axis number to control. XBF-PN04B:1~4, XBF-PN08B:1~8
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

XPM_EMG Example XG-PM Monitoring

 

 

 

 

 

 

 

 

LP630