Differences between MC_GrpHalt and MC_GrpStop

MC_GrpHalt and ccpMC_GrpStop both perform a controlled motion stop of all axes in an axes group.

These are the differences between the function blocks.

MC_GrpHalt	MC_GrpStop
MC_GrpHalt can be aborted by these other commands: MC_GrpHalt MC_GrpStop MC_Move command (e.g., MC_MoveLinAbs, MC_MoveCircRel, etc.)	MC_GrpStop cannot be aborted by any other command.
While MC_GrpHalt is active, the group state is GroupMoving.	While MC_GrpStop is active, the group state is GroupStopping. See Group State Diagrams.
When MC_GrpHalt is complete, the group state goes to GroupStandBy.	When MC_GrpStop is complete, the DONE output is TRUE. The EXECUTE input must be set to FALSE before the group state can go to GroupStandBy.

MC_GrpHalt

MC_GrpStop

MC_GrpHalt can be aborted by these other commands:

MC_GrpStop cannot be aborted by any other command.

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 is TRUE.
The EXECUTE input must be set to FALSE before the group state can go to GroupStandBy.