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6-5
6 Motion Control Programming
NJ-series CPU Unit Motion Control User’s Manual (W507)
6-3 State
T
ran
sitio
n
s
6
6-3-2 Axis
S
ta
tes
*1
Transition into this state occurs when there is an axis error in any state except for
Coordinated Motion
state.
*2
Transition into this state occurs when there are no axis errors and the Status output to the MC_Power instruc-
tion is FALSE. (The Servo is OFF.)
*3
Transition into this state occurs if an error is reset with the MC_Reset or ResetMCError instruction when the
Servo is OFF.
*4
Transition into this state occurs if an error is reset with the MC_Reset or ResetMCError instruction when the
Servo is ON.
*5
Transition into this state occurs when the
Enable
input to the MC_Power instruction changes to TRUE and the
Status
(Servo ON) output from the MC_Power instruction changes to TRUE. (The Servo is ON.)
*6
Transition into this state occurs when the
Done
output from the MC_Stop instruction is TRUE and the
Execute
input to the MC_Stop instruction changes to FALSE.
*7
Transition into the
Deceleration Stopping
state occurs when the MC_ResetFollowingError instruction is exe-
cuted.
*8
The Continuous Motion state exists from when velocity control is set for the
MoveMode
input variable of the
MC_MoveFeed instruction until a trigger input is detected.
Note
Axis status can be monitored in the member variables of the Axis Variables
_MC_AX[0].Status
to
_MC_AX[63].Status
.
State name
Definition
Servo OFF
In this state, the Servo is OFF for the axis. When this state is moved to, the buff-
ered status for multi-execution of instructions is cleared.
Axis Disabled
In this state, the Servo is OFF for the axis, the axis is stopped, and execution
preparations are completed.
Error Deceleration
Stopping
In this state, the Servo is OFF for the axis, the axis is stopped, and an axis error
has occurred.
Servo ON
In this state, the Servo is ON for the axis.
Stopped
In this state, the Servo is ON for the axis and the axis is stopped.
Discrete Motion
In this state, positioning is performed for the specified target position. This
includes when waiting the in-position status and when the velocity is 0 because
the override factor was set to 0 during a discrete motion.
Continuous Motion
In this state, continuous motion control is executed with no specified target
position. This state exists during velocity control or torque control. This includes
when the velocity is 0 because the target velocity is set to 0 and when the
velocity is 0 due to an override factor set to 0 during continuous motion.
Synchronized Motion
In this state, the synchronized control is performed for the axis with synchro-
nized control commands. This includes waiting for synchronization after chang-
ing to synchronized control instructions.
Deceleration Stopping
In this state, the axis is stopping due to a MC_Stop or MC_TouchProbe (Enable
External Latch) instruction. This includes when
Execute
is TRUE after stopping
for the MC_Stop instruction. In this state, it is not possible to execute axis oper-
ation commands. If an attempt is made to execute one,
CommandAborted
for
the instruction changes to TRUE.
Error Deceleration
Stopping
In this state, the Servo is ON for the axis and an axis error has occurred. This
includes during execution of the MC_ImmediateStop (Immediate Stop) instruc-
tion and during a deceleration stop for an axis error. It is not possible to execute
axis operation commands in this state. The instruction will enter the aborted
(
CommandAborted
= TRUE) status if executed.
Homing
In this state, home is being searched for by the MC_Home instruction.
Coordinated Motion
In this state, the axis is being controlled by an instruction for an axes group
command. In this state, the axis is in motion for an axes group state of
Group-
Moving
,
GroupStopping
, or
GroupErrorStop.
Summary of Contents for NJ501-1300
Page 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...
Page 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...
Page 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...
Page 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...
Page 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...
Page 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...
Page 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...
Page 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...
Page 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...
Page 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...
Page 422: ...Appendices A 18 NJ series CPU Unit Motion Control User s Manual W507...
Page 423: ...Index 1 NJ series CPU Unit Motion Control User s Manual W507 I Index...
Page 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...