Differences between MC_GrpHalt and MC_GrpStop

While MC_GrpHalt and MC_GrpStop both perform a controlled motion stop of all axes in an axes group, some differences exist between the operation of the function blocks.

• MC_GrpStop can not be aborted by any other command. MC_GrpHalt can be aborted by another MC_GrpHalt command, a MC_GrpStop command or a MC_Move command such as MC_MoveLinAbs, MC_MoveCircRel, etc.
• While MC_GrpStop is active, the group state (see Group State Diagrams) is 'GroupStopping'. While MC_GrpHalt is active, the group state is 'GroupMoving'.
• When MC_GrpHalt is complete, the group state goes to 'GroupStandBy'. When MC_GrpStop is complete, the DONE output will be true. The EXECUTE input must be set to false before the group state can go to 'GroupStandBy'.