Yaskawa MotionWorks IEC - Manual (Page 168)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 160
MC_Stop
This Function Block commands a controlled motion stop and transitions the
axis to the 'Stopping' state. While the axis is in the 'Stopping' state, no
other FB can perform motion on the same axis. Other blocks will
generate the error, 4370, MotionProhibited. After the axis has reached
zero velocity, the Done output is set to TRUE. The axis remains in the
'Stopping' state as long as 'Execute' is still TRUE or zero velocity is not yet
reached. When 'Done' is TRUE and 'Execute' is FALSE, the axis goes to the
'StandStill' state.
Parameters
Parameter Data type Description
VAR_IN_OUT
B Axis AXIS_REF Logical axis reference. This value can be located on the
Configuration tab in the Hardware Configuration (logical axis
number).
VAR_INPUT Default