Mitsubishi Electric MELSEC-Q-MR-JE-C, Reference Manual

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3 FB LIBRARY
3.1 Function Overview of the FB Library
FB status diagram
The following figure shows the status diagram of this FB library.
An axis is always in a defined status. A solid arrow in the status diagram figure indicates a transition caused by the start of an
FB. A dashed arrow indicates a transition caused by the command end of an axis or the system.
*1 When an error occurs in the axis, the status transits from any status.
*2 When Enable of MC_Power is OFF and no error has occurred in the axis
*3 When MC_Reset is executed and Status of MC_Power is OFF
*4 When MC_Reset is executed and both Enable and Status of MC_Power are ON
*5 When both Enable and Status of MC_Power are ON
*6 When Done of MC_Stop is ON, and Execute of MC_Stop is OFF.
*7 In the zero velocity status. For zero velocity status, refer to the instruction manual of the servo amplifier in use.
Status Description
Disabled Indicates the initial status of an axis. Enable of MC_Power is OFF and no error has occurred in the axis.
ErrorStop The status transits to this status when an error occurs. This status remains while an error has occurred.
Stopping The status transits to this status when MC_Stop is executed. This status remains while Execute of MC_Stop is ON.
Homing Indicates that the home position return is in execution.
Standstill Indicates that MC_Power is ON and no error has occurred in the axis.
DiscreteMotion Indicates that the positioning control FB is in execution.
The status transits to this status when MC_MoveAbsolute, MC_MoveRelative, MC_MoveAdditive, or MC_Halt is executed.
ContinuousMotion Indicates that the continuous control FB is in execution. The status transits to this status when MC_MoveVelocity or
MC_TorqueControl is executed.
MC_MoveAbsolute
MC_MoveRelative
MC_MoveAdditive
MC_Halt
MC_MoveVelocity
MC_TorqueControl
MC_Home
MC_Stop
Continuous
Motion (6)
Disabled (0)
Stopping (2)
Homing (3) Standstill (4)
Discrete Motion
(5)
Errorstop (1)
Done
Done
*1
*2
*3
*4
*5
*6
*7