LSIS XGT Series - Chapter 6 Motion Function Block; Common Elements of Motion Function Blocks; The State of Axis

Chapter 6 Motion Function Blocks
6-1
Chapter 6 Motion Function Block
This chapter describes the basic function block library mentioned in the previous chapter and other application function block library.
6.1 Common Elements of Motion Function Blocks
6.1.1 The State of Axis
Each axis in the motion controller is changed to the relevant state depending on the situation and command. The changing structure
of each situation is shown in the figure below.
Synchronized
Motion
Discrete Motion
Continuous
Motion
Stopping
Standstill Disabled
ErrorStop
Homing *5
*3
Done
*4
*2
*1
MC_Home
MC_Stop
Done
MC_MoveVelocity
MC_TorqueControl
MC_MoveContinousAbsolute
MC_MoveContinousRelative
MC_GearIn (Sub Axis)
MC_GearInPos (Sub Axis)
MC_CamIn (Sub Axis)
MC_MoveAbsolute
MC_MoveRelative
MC_MoveAdditive
MC_Halt
*6
*1 ErrorStop: in case axis error occurs regardless of the current state of axis
*2 Disabled: in case MC_Power.Enable input is Off when axis error does not occur
*3 ErrorStop  Disabled: in case MC_Reset command has issued when MC_Power.Status output is Off
*4 ErrorStop  Standstill: in case MC_Reset command has issued when MC_Power.Status output is on and
MC_Power.Enable input is On
*5 Disabled  Standstill: in case of turning On MC_Power.Enable input when MC_Power.Status output is On
*6 Stopping  Standstill: in case of turning Off MC_Stop.Execute input when MC_Stop.Done output is On