Mitsubishi Electric MELSEC iQ-R Series User Manual page 158

MC_GroupStop (Group forced stop)
In MC_GroupStop, the deceleration (Deceleration) is set and on-going instruction is decelerated to a stop. The axes group
passes through the previous operation path and decelerates to a stop.
When MC_GroupStop is executed, CommandAborted of on-going instruction turns TRUE and the axes group status
(AxesGroupName.Md.GroupStatus) transits to the "2: GroupStopping" status. While Execute is TRUE or while the speed does
not reach 0, the "2: GroupStopping" status is maintained. When Done turns TRUE and Execute turns FALSE at stop
completion, the axes group status changes to the "4: GroupStandby" status.
■MC_GroupStop execution during MCv_MoveLinearInterpolateRelative
MCv_MoveLinear
InterpolateRelative
CommandAborted
MC_GroupStop
AxesGroupName.Md.GroupStatus 4: GroupStandby
Axis 1.Md.AxisStatus
Axis 2.Md.AxisStatus
AxesGroup.Md.SetVelocity
4 START AND STOP
156
4.4 Stop
y
t1
Execute
Error
Execute
Busy
Done
4: Standstill
4: Standstill
Velocity
t1
t4
t3
t2
2: Group
5: GroupMoving
Stopping
7: SynchronizedMotion
7: SynchronizedMotion
t2 t3
t4
x
4: Group
Standby
4: Standstill
4: Standstill
Time