YASKAWA VIPA SPEED7 - States and Behavior of the Outputs

13.9 States and behavior of the outputs
13.9.1 States
The state diagram shows all the states that an axis can assume. An axis is always in one
of these states. Depending on the output state, a state change can take place automati-
cally or via the blocks of the axis control. In principle, movement tasks are processed
sequentially. You can use the following function blocks to query the state
n Ä Chap. 13.7.3.11 ‘FB 812 - MC_ReadStatus - PLCopen status’ page 565
n Parameter PLCopenState from
Ä Chap. 13.7.2.2 ‘FB 860 - VMC_AxisControl - Con-
trol block axis control’ page 544
Return when done
(1) From each state: An error has occurred at the axis
(2) From each state: MC_Power.Enable = FALSE and there is no error on the axis
(3) MC_Reset and MC_Power.Status = FALSE
(4) MC_Reset and MC_Power.Status = TRUE and MC_Power.Enable = TRUE
(5) MC_Power.Enable = TRUE and MC_Power.Status = TRUE
(6) MC_Stop.Done = TRUE and MC_Stop.Execute = FALSE
There are the following states
n Disabled
– Basic state of an axis.
– Axis can not be moved by any function block.
n Error Stop
– An error has occurred on the axis.
– Axis is stopped and is blocked for further motion tasks.
– Axis remains in this state until the error is solved and a RESET is triggered.
– Errors on an axis are also reported via the corresponding function block.
– Errors on a function block do not lead to this state
n Stand Still
– Ready for motion tasks
– There is no error on the axis
– There are no motion tasks active on the axis
– Axis is power supplied
n Stopping
– Axis is currently stopped:
Ä Chap. 13.7.3.5 ‘FB 802 - MC_Stop - stop axis’ page 553
Ä Chap. 13.7.2.2 ‘FB 860 - VMC_AxisControl - Control block axis control’
page 544
– The Stopping state is active as long as a Stop command is active (Execute = 1).
Even if the axis is already stopped. Then the state automatically changes to
Standstill.
State diagram
VIPA SPEED7
Motion control - Simple Motion Control Library
States and behavior of the outputs > States
HB00 | OPL_SP7 | Operation list | en | 18-30 633