Chapter 6 Motion Function Blocks
The state of axis Description
Disabled
Disabled state indicates the state in which no command is given to a single axis, and no
error occurs. In case there is no motion controller at the time of first operation, each axis
begins in the disabled state. Afterwards, axis status is changed to standstill state in case
servo-on status emerges when Enable input of servo On/Off (MC_Power) motion function
block is On. The axis becomes disabled state when Enable input of serve On/Off
(MC_Power) motion function block is Off in case of not being in ErrorStop state. In case
there is motion function block which is currently being performed, the command is
interrupted.(The CommandAborted output of the motion block function is On)
ErrorStop
No matter which state the current axis is in, it is changed to ErrorStop state when axis error
occurs, and the axis decelerates to stop. In the state where error occurs, ErrorStop state is
maintained even though servo On/Off (MC_Power) motion function block is executed. The
motion axis which is in ErrorStop state maintains stationary state, and any command
except for error reset is not executed.
StandStill
When the power of axis is activated, there is no error in the axis and any command is not
made, the axis state indicates StandStill state.
Homing
Homing state indicates the axis is in homing operation.
Stopping
In case Stop immediately (MC_Stop) function block is executed, the axis state is changed
to stopping state. When the axis is in stopping state, other motion commands cannot be
given to the axis until the Stop is completed (until Done output is activated). If Done output
is On, and Execute input is On, the state is switched to Standstill status.
Continuous Motion
It indicates state where operation continues until the current axis becomes operation stop
status.
Discrete Motion
It indicates reduced operating status with target position.
Synchronized Motion
Synchronized motion indicates axis is in synchronized operation.
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