text: <s>[INST] Kinetix 6000 - zero speed/stopped detection and vertcal application e-stopping Is there a status bit to tell me when an axis is stopped? Also, in a vertical application, the e-stop in the down ward (weighted) direction is abrubt to violent. How would I detun that? By adjusting the systems maximum deceleration. The up direction is fine beacuse it is lifing a load. [/INST] Axis_Servo_drive Data Type structure has a Motion Status word, where bit 6 is StoppingStatus.This bit is set if there is a stopping process currently in progress, and cleared when the stopping process is complete. Both MAS-motion axis stop and MGS - motion group stop instructions use this bit. Also you may check for .PC bit in MAS or MGS instructions, that is Process complete bit. Hope this helps… - fuzzy logic \\n </s>