MC-Basic:STOP

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This command stops the group or axis motion. If the StopType is not specified, the permanent value of StopType is used. This command stops a slave axis and clears it from being a slave (the SLAVE property is set to 0). To stop all system elements simultaneously, set SYSTEM.MOTION to 0. Motion is inhibited until SYSTEM.MOTION is set back to 1.

	NOTE
	STOP does not directly effect task execution. It stops motion, but does not stop task execution.

Depending on the value of <group/axis>.STOPTYPE different actions will be taken:

• StopType=1 (Immediate) the current motion's velocity is reduced to zero according to the given maximum deceleration (<axis>.DecMax or in case of group <axis>.DecMax for each of the belonging axis), in case of group-motion the stopping path DOES NOT HAVE TO be on the movement's trajectory.
  In case there exist another pending motion (waiting in the motion buffer), it will be stored and not executed. If the STOP is issued from another instance (another task or terminal-window) proceeding new movements is only possible after issuing PROCEED command.

• StopType=2 (OnPath) the current motion's velocity is reduced to zero according to the given maximum deceleration (DecMax), in case of group-motion the stopping path WILL BE on the movement's trajectory.
  In case there exist another pending motion (waiting in the motion buffer), it will be stored and not executed. If the STOP is issued from another instance (another task or terminal-window) proceeding new movements is only possible after issuing PROCEED command.

• StopType=3 (EndMotion) the current motion will be completed as it was commanded without any interference.
   :In case there exist another pending motion (waiting in the motion buffer), it will be stored and not executed. If the STOP is issued from another instance (another task or terminal-window) proceeding new movements is only possible after issuing PROCEED command.

• StopType=4 (Abort) the current motion's velocity is reduced to zero according to the given maximum deceleration, in case of group-motion the stopping path DOES NOT HAVE TO be on the movement's trajectory.
  In case there exist another pending motion (waiting in the motion buffer), it will be stored and not executed. In order to proceed with other motion the PROCEED command is NOT NEEDED.

• StopType=5 (DecStopOnPath) the current motion's velocity is reduced to zero according to the current movement's deceleration value (DecStop/DecTran/DecRot), in case of group-motion the stopping path WILL BE on the movement's trajectory.
  In case there exist another pending motion (waiting in the motion buffer), it will be stored and not executed. If the STOP is issued from another instance (another task or terminal-window) proceeding new movements is only possible after issuing PROCEED command.

Short form

Stop

Syntax

Stop < group | axis> {StopType=<stop type>}

Availability

All versions

Scope

Task or Terminal

Limitations

Write only

Examples

Stop XYTable

Stop A1 StopType=EndMotion

See Also

• PROCEED
• STOPTYPE