AH Motion Controller – Operation Manual
7-10
7.5 State Transitions
This section introduces the state transitions in single axis motion and axes group motion when multiple motion control
function blocks are used. The transition rules comply with the PLCopen motion control standard.
7.5.1 Axis States
Note1: Entering “ErrorStop” state when an error occurs on the axis
Note2: Enable of MC_Power changes to False and no axis error occurred.
Note3: MC_Reset is executed and Status of MC_Power is False.
Note4: MC_Reset is executed and both Enable and Status of MC_Power areTrue.
Note5: Both Enable and Status of MC_Power change to True.
Note6: Done of MC_Stop changes to True, and Execute of MC_Stop. Is False.
Note7: When the axis is in “Coorrdinated” and Execute of MC_Stop changes to Ture, the axis will enter “Coordinated
Stop”; When the axis is in “Coorrdinated Stop” and Execute of MC_Stop changes to False, the axis will enter
“Coordinated ”.
Note8: When the axis is in “Coorrdinated” and one single-axis motion instruciton is executed on the axis, the axis goup
state will enter “ErrorStop” and the axis will enter “Coordinated Halt”. When the error is reset by MC_Reset, the axis will
resume “Coordinated”.
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