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6 Motion Control Programming
6-6
NJ-series CPU Unit Motion Control User’s Manual (W507)
The operation of an axes group when motion control instructions are executed for it is shown in the fol-
lowing figure.
*1
The
Moving
state is entered for any axes group motion control instruction.
*2
The
ErrorStop
state is entered from any other state. It is even entered if an error occurs when the axes group is
disabled.
*3
The
Standby
state is entered when the MC_GroupReset or ResetMCError instruction is executed for an
enabled axes group.
*4
The
Disabled
state is entered when the MC_GroupReset or ResetMCError instruction is executed for a dis-
abled axes group.
*5
The same state is returned to if the MC_GroupDisable is executed in
ErrorStop
state.
*6
Stopping
state is entered when the
Done
output variable from the MC_GroupStop instruction is TRUE and the
Execute
input variable to the same instruction is FALSE.
*7
Ready
state is entered if all of the following conditions are met in
Standby
state.
•
The Servo is ON for all composition axes.
•
Execution of the MC_Stop instruction is not in progress for any composition axis.
•
Home is defined for all composition axes.
6-3-3
Axes Group States
State name
Definition
Axes Group Disabled
The axes group is disabled in this state. When this state is entered, the buffered
status for multi-execution of instructions is cleared.
Error Deceleration
Stopping
In this state, an error occurred in an axes group that is disabled.
Axes Group Enabled
The axes group is enabled in this state.
*6
*3
*1
*2
*5
MC_GroupImmediateStop
*4
MC_GroupEnable
MC_GroupStop
MC_GroupDisable
*6
Moving
Moving
Deceleration Stopping
Stopping
Error Deceleration Stopping
ErrorStop
Axes Group Disabled
Disabled
Stopped
Standby
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...