VA Motion Controller Programming Manual
289
11.3.6 state machine
When the VEC-VA-MP-005-MA motion controller controls each axis using motion control
commands, each axis has an internal operating state. The state switching of the controlled axes
follows the state machine shown in the figure below. The state machine defines the motion
commands that can be executed in each state and the state after the motion command is executed.
When the motion command is used by the user, the state machine can determine whether a motion
command can be used in the current state. The state machine of the VEC-VA-MP-005-MA motion
controller is shown in the figure below, and the arrow indicates that the part is the state of the axis.
Note1: Enable with MC_Power command and MC_Power. Status is True.
Note2: MC_Stop.Done is True and MC_Stop.Execute is False.
The state of the shaft can be determined based MC_ReadStatus (read status command axis)
output pin, refer to the specific use instructions "11.4.15 MC_ReadStatus (Read axis state). "
The state is not performed
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