Elmomc SimplIQ Command Reference Manuel d'utilisateur télécharger pdf (Page 93)

KL - Kill Motion and Program

Purpose:

Halts program execution and stops the motor. The KL command stops the execution of

the user program threads and automatic routines. It also issues the MO=0 motor disable

command. KL freezes the status of the program and does not reset it. A later XC

command will resume the program from the instruction at which the program was

halted. Pending interrupts will remain pending.

A KL command issued when no program is running does nothing, and sets no error

code.

Attributes: Type: Command, No value

Source: RS-232, CANopen

Restrictions: None

Unit modes: All

Activation: Immediate

If the motor is on when KL is used, using XC to continue the program may fail,

because the interrupted program expects the motor to be on, and it may use

commands that are restricted to the MO=1 state.

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Elmomc SimplIQ Command Reference Manuel d'utilisateur Page 93