AXY:MC-Basic:group.STOPTYPE
This property defines how the motion is stopped in response to the STOP command. The property is used within a STOP command to override the permanent value for that STOP command.
1 (IMMEDIATE): Immediate stop using maximum deceleration.
2 (ONPATH): Immediate stop on the path of the motion. This is useful for stopping group motion so all axes remain on the original path of travel during the stop. For a single axis, IMMEDIATE and ONPATHare the same.
3 (ENDMOTION): Stop at the end of the current motion command.
4 (ABORT): Stop the current motion immediate but do not wait for proceed to start next motion. – Only the accepted motion commands are stopped, the commands coming after this stoptype will be executed regularly
5 (DecStopOnPath) - the stopping procedure is started immediately according to DecStop value or DecStopTran and DecStopRot values (for ROBOT ). As those parameters are modal so their values must be updated before executing the motion command. Contrary to stop immediate in this case the Robot is stopped as a whole group on the movement path.
Syntax
<GROUP>.StopType = <expression>
?<GROUP>.StopType
Availability
All versions
Type
Long
Range
1 to 5
Default
1
Scope
Configuration, Task or Terminal
Examples
Group1.StopType = 2
Stop Group1 StopType=3