# MC_GrpStop

The function block leads to a controlled motion stop. It aborts every ongoing command by other motion FBs.

The axis group changes to the “GroupStopping” state until velocity 0 is reached. If the “Done” and “Execute” outputs are set to FALSE, the axis group state changes to “GroupStandby”. The function block is not interruptible.

Block diagram

FB parameters

VAR_IN_OUT
Variable name | Data type | Description
AxesGroup | AXES_GROUP_REF | Axis group reference
VAR_INPUT
Variable name | Data type | Description
Execute | BOOL | Starts the command on the rising edge.
BufferMode | MC_BUFFER_MODE | The input defines when a job is activated provided that other jobs are already active when the FB is commanded or are waiting for execution. The following modes are supported: mcAborting = 0 mcBuffered = 1
VAR_OUTPUT
Variable name | Data type | Description
Done | BOOL | TRUE indicates that 0 velocity was reached. The axes are at standstill.
Busy | BOOL | TRUE indicates that the function block is executing a job.
Active | BOOL | The command is not yet completed.
CommandAborted | BOOL | The command to stop was aborted by another job.
Error | BOOL | TRUE indicates that an error occurred.
ErrorID | WORD | Error code
JobID | UDINT | Ordinal number of the last job sent by the FB.