Delta AX-3 Series, Руководство по эксплуатации

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A X - 3 S e r i e s O p e r a t i o n M a n u a l
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Interaction between single-axis state and axis group state
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If one of the axes in the group is in ErrorStop and the axis group is not in GroupDisabled, the group
would be in GroupErrorStop status.
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When state GroupMoving/GroupStopping/GroupHoming disconnect the power of an axis, the axis
group would be in GroupErrorStop state.
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If all axes are in Standstill, the axis group can be in state GroupStandby, GroupDisabled or
GroupErrorStop.
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If the motion of a single-axis interrupts the motion of axis group, the other axes in the group should be
stopped and enter state Stopping, while the state of the axis group entering state GroupStandby.
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In case that the axis group is in GroupStandby, there’s no need for all the single axes being in state
SynchronizedMotion.
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For axis group motion instructions (including MC_GroupStop), all single axes in the axis group should
be in state SynchronizedMotion.
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When an error occurs during the movement of axis group, all axis in the group should stop
immediately till the axis group entering state GroupErrorStop. Those single axes with no errors will
enter state Standstill.
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When the state of axis group is GroupErrorStop, the state of single axes will not be affected.
7.6.3 Execution and Status Indication for Motion Control
Instructions
The motion function blocks are grouped under two main categories with AX series motion controllers:
Category Description
MC_ PLCopen motion control function blocks
DMC_ Delta self-defined function blocks*
*Note: Delta self-defined function blocks (DMC) include motion control type and other administrative/ non-
administrative type applicable for AX series motion CPU. Please find AX
General pins for motion control function blocks include input, output and in-out. The section explains the
meanings and behaviors of these pins. For more details concerning motion function blocks, please refer to AX
Series Motion Controller Manual.