LSIS XGT Series - Stop the Group Immediately (Mc_Groupstop)

Chapter 6 Motion Function Blocks
6-89
6.5.8 Stop the group immediately (MC_GroupStop)
Motion Function Block
MC_GroupStop
DoneExecute
AxesGroup AxesGroup
BOOLBOOL
UINT UINT
LREAL Deceleration
LREAL Jerk
Busy BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD
Active BOOL
Input-Output
UINT
AxesGroup
Set the group to stop immediately. (1 ~ 16 : Group 1 ~ Group 16)
Input
BOOL
Execute
Give group immediate stop command to the relevant group in the rising Edge.
LREAL
Deceleration
Specify the deceleration in time of stop. [u/s
2
]
LREAL
Jerk
Specify the change rate of acceleration/deceleration. [u/s
3
]
Output
BOOL
Done
Indicate the state of motion function block completion.
BOOL
Busy
Indicate that the execution of motion function block is not completed.
BOOL
Active
Indicate that the current motion function block is controlling the relevant axis.
BOOL
CommandAborted
Indicate that the current motion function block is interrupted while it is running.
BOOL
Error
Indicate whether an error occurs or not.
WORD
ErrorID
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 group.
(2) The relevant axis group moves on the route which it was following until it completely stops.
(3) When executing group immediate stop (MC_GroupStop) motion function block, motion function block which the relevant
axis group is performing is interrupted, and the axis is changed to 'GroupStopping'. When the relevant axis group is in
‘GroupStopping’ state, other motion function block cannot be given to the relevant axis until the stop is completed (until Done
output is On).
(4) CommandAborted output indicates that the current motion function block is interrupted while it was executed. Because other
motion function block cannot interrupt group immediate stop (MC_GroupStop) command while group immediate stop
(MC_GroupStop) command is being executed, CommandAborted output is On when the power of servo is cut, servo Off
command is executed, or servo connection is disconnected.
(5) If Execute input is On or the speed of the axis is not 0, the axis is in ' GroupStopping' state, and if Done output is On and
Execute input is Off, the axis is switched to ' GroupStandBy' state.