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Stopping motion in ACR controllers

Setting the master's kill all moves request or stop all motion request that are associated with it's slave axis will have no effect on jogging moves. (Master0 are Bit522 and Bit523 respectively) However, setting these Master Bits will kill/stop motion on any master moves or coordinated moves.

Setting the Axis's Kill All Motion Request Bit (Bit8467 for Axis0), will kill all motion, including jogging for that axis and all other axes that are associated to that master.

Example1: Axis0 and Axis1 are attached to Master0, Axis2 and Axis3 are attached to Master1. When all Axes are jogging, setting Bit522 and Bit523 will have no affect on jogging. But when setting Bit8467, Kill All Motion Request for Axis0, Axis0 and Axis1 will stop but Axis2 and Axis3 will continue to jog.

Example2: Axis0 and Axis1 are attached to Master0, Axis2 and Axis3 are attached to Master1. When Axis0 and Axis1 are making a coordinated move, setting Bit523 will Stop All Moves, but will not kill the axis. The Kill All Move Request is associated to having the ACR9000 Disable Drive on Kill feature enable (Bit8471 for Axis0). This feature allows the controller to disable the drive when the Axis is killed; while a Stop All Move Request only stop motion.