Aborting and Stopping

To stop execution of a cyclic buffer, the Abort or ExecQuickStop function can be called.

Abort

The Abort function will immediately abort execution of the cyclic buffer and all remaining cyclic commands in the cyclic buffer are cleared. The axis will immediately stop. The state will change to Stopped and the axis operation state will change to Idle. This function is typically called after the axis has finished executing all cyclic commands in the cyclic buffer or in emergencies when the axis must be immediately stopped.

The AddCommand and Execute functions can be called immediately after Abort as long as there is enough space in the cyclic buffer to store the new commands before Abort clears the buffer.

ExecQuickStop

The ExecQuickStop function will stop the axis at the quick stop deceleration (Quick Stop Dec) and all remaining cycle commands in the cyclic buffer are cleared. The state will change to Stopped and the axis operation state will change to Stop and then to Idle after the axis finishes stopping.

The quick stop deceleration is used only when the Axis Command Mode is set to Position or Velocity. In Torque mode, the axis will immediately stop.

After calling ExecQuickStop, the AddCommand and Execute functions cannot be called until one communication cycle has passed. These functions can be called after the state returned by CyclicBuffer::GetStatus changes to Stopped.