# Control commands of a spindle

Spindle stop at program end
Description | If this element is set to TRUE at end of the program, the spindle is stopped.
Data type | MC_CONTROL_BOOL_UNIT, see description Control Unit
Access | PLC reads request_r + state_r and writes command_w + enable_w
ST path | gpAx[axis_idx]^.ipo_mc_control.spdl_stop_at_prog_end
Commanded, requested and return value
ST element | .command_w .request_r .state_r
Data type | BOOL
Value range | [TRUE = Spindle is stopped at end of program, FALSE]
Redirection
ST element | .enable_w

Spindle reset
Description | Commanding a reset for the spindle.
Data type | MC_CONTROL_BOOL_UNIT, see description Control Unit
Access | PLC reads request_r + state_r and writes command_w + enable_w
ST path | gpAx[axis_idx]^.ipo_mc_control.spdl_reset
Commanded and requested Value
ST element | .command_w .request_r
Data type | BOOL
Value range | [TRUE Spindle reset commanded, FALSE]
Return value
ST element | .state_r
Data type | BOOL
Value range | [TRUE = Spindle reset is executed, FALSE]
Redirection
ST element | .enable_w

Spindle error
Description | Sets the spindle to error state
Data type | MC_CONTROL_BOOL_UNIT, see description Control Unit
Access | PLC reads request_r + state_r and writes command_w + enable_w
ST path | gpAx[axis_idx]^.ipo_mc_control.spdl_error
Commanded, requested and return value
ST element | .command_w .request_r .state_r
Data type | BOOL
Value range | [TRUE, FALSE]
Redirection
ST element | .enable_w

Emergency stop, spindle
Description | Commanding this control unit is only effective if the axis is a spindle. If this element is set to active for emergency stop (TRUE), a speed setpoint of zero is output. The axis is stopped at the emergency stop deceleration which is parameterised.

This type of motion influence has maximum priority.

Data type | MC_CONTROL_BOOL_UNIT, see description Control Unit
Access | PLC reads request_r + state_r and writes command_w + enable_w
ST path | gpAx[axis_idx]^.ipo_mc_control.emergency_stop
Commanded, requested and return value
ST element | .command_w .request_r .state_r
Data type | BOOL
Value range | [TRUE = Emergency stop active, FALSE]
Redirection
ST element | .enable_w