Chapter 6 Motion Function Blocks
6.3.3 Stop immediately (MC_Stop)
MC_Stop
AxisAxis
Execute Done
UINTUINT
BOOL BOOL
LREAL Deceleration
LREAL Jerk
Busy BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD
Specify the axis to be commanded (1~32: real/virtual axis, 33~36: virtual axis)
Give immediate stop command to the relevant axis in the rising Edge.
Specify deceleration in time of stop. [u/s
2
Specify the change rate of acceleration/deceleration. [u/s
3
Indicate that the speed of the relevant axis reaches 0.
Indicate that the execution of motion function block is not completed.
Indicate that the current motion function block is interrupted while it is running.
Indicate whether an error occurs or not.
Output the number of error occurred while motion function block is running.
(1) This motion function block is to give an emergency stop command to the relevant axis.
(2) When executing immediate stop (MC_Stop) motion function block, the existing motion function block being executed in the
relevant axis is stopped, and the axis state changed to 'Stopping'. When the relevant axis is in 'Stopping’ state, other motion
function block cannot be executed in the relevant axis until the stopping is completed (until the Done output is activated).
(3) CommandAborted output indicates that the current motion function block is interrupted while it is running. Other motion
function block cannot interrupt immediate stop (MC_Stop) motion function block while immediate stop (MC_Stop) motion
function block is running, therefore, CommandAborted output is On in general when the power of servo is blocked or servo Off
command is executed.
(4) If Execute input is On or the speed of axis is not 0, the axis is in 'Stopping' state, and when Done output is On and Execute
input is Off, it is switched to 'Standstill' state.
(5) The changed parameters can be applied by re-executing the function block (Execute input is On) before the command is
completed. Only Deceleration and Jerk input can be updated
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