Motion Group Instructions
212 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
See also
Motion Configuration Instructions on page 305
Motion Move Instructions on page 83
Motion State Instructions on page 29
Multi-Axis Coordinated Motion Instructions on page 345
Motion Event Instructions on page 235
This information applies to the CompactLogix 5370, ControlLogix 5570,
Compact GuardLogix 5370, GuardLogix 5570, Compact GuardLogix 5380,
CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix
5580 controllers.
The Motion Group Stop (MGS) instruction initiates a stop of all motion in
progress on all axes in the specified group by a method configured individually for
each axis or as a group via the Stop Mode of the MGS instruction. If the MGS
Stop Mode is specified as Programmed, each axis in the group is stopped according
to the configured Programmed Stop Mode axis attribute. This is the same
stopping mechanism that is employed by the Logix Operating System when there
is a Logix controller state change. This Programmed Stop Mode attribute
currently provides five different methods of stopping an axis:
• Fast Stop
• Fast Disable
• Hard Disable
• Fast Shutdown
• Hard Shutdown
Alternatively, an explicit Stop Mode may be selected by using the MGS
instruction. If a Stop Mode of Fast Disable is selected, all axes in the group stop
with Fast Disable behavior. When the motion of all the axes in the group has been
brought to a stop, the Process Complete (PC) bit is set in the control structure.
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