LSIS XGT Series - The State of Group

Chapter 6 Motion Function Blocks
6-3
6.1.2 The State of Group
Each group in motion controller is changed to the relevant state depending on the situation and command.
The changing structure of each state is shown in the figure below.
GroupMoving
GroupHoming
GroupStopping
GroupStandby
*1
*3
GroupErrorStop
GroupDisabled
Done
MC_GroupEnable
Done
MC_GroupDisable
MC_UngroupAllAxes
MC_RemoveAxisFromFroup
*4
Error
MC_AddAxisToGroup
MC_RemoveAxisFromGroup
*5
MC_AddAxisToGroup
MC_RemoveAxisFromGroup
MC_UngroupAllAxes
MC_GroupReset
Error
Error
*2
*2
Error
*1
MC_GroupHalt
MC_GroupStop
MC_GroupStop
MC_GroupHome
MC_GroupStop
*1 GroupMoving: in case of performing the motion function block of general group operation
*2 GroupStopping, GroupErrorStop
: The relevant motion function block is not performed when different motion function block is performed in GroupStopping or
GroupErrorStop state, and when MC_GroupReset function block is performed in GroupErrorStop state, the state of the
relevant group is changed to GroupStandby.
*3 GroupStopping  GroupStandby
: when MC_GroupStop.DONE output is On and MC_SroupStop.EXECUTE input is Off
*4 GroupStandby  GroupDisabled
: in case there is no axis belonging to the group when performing the axis remove command
(MC_RemoveAxisFromGroup, MC_UnGroupAllAxes)
*5 GroupStandby
: in case more than one axis belongs to the group when performing the axis add or remove command in group
(MC_AddAxisToGroup, MC_RemoveAxisFromGroup)
*6 GroupDisabled
: When performing MC_GroupDisable or MC_UnGroupAllDisable function block, the relevant group is changed to
GroupDisabled state regardless of its current state.