Stoping MC_Move Relative block.

[Poljak 0]

Hello,

I've got a problem with a Motion control sequence.

In my code i would like to perform operation like:

When package move on optice sensor position it stopping and perform MC_Move operation. It's moving for X lenght, but sometimes it stop a little bit after sensor and i would like to stop MC_Move instruction faster - directly when state on sensor goes down. Which instruction use and how to code it to make it good. I already made something like.

**pseudocode**

seq=1: if sensor then

           MC_MOVE_instruction_execute=True;

           seq=2

seq=2:

           f_trig(sensor)

           If MC_MOVE_instruction_done or MC_STOP_instruction_done then

           MC_MOVE_instruction_execute=False;

           seq=3

seq3:

        REST OF THE CODE

 

SR_INSTRUCTION(S=F_TRIG.q, R=MC_STOP_instruction_done OR SEQ=3)

MC_STOP_INSTRUCTION_EXECUTE=SR_INSTRUCTION.Q

 

Am i doing it right or there is another way?

Thanks in advance.