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6 Motion Control Programming
6-4
NJ-series CPU Unit Motion Control User’s Manual (W507)
6-3 State Transitions
The states of axes and axes groups and state transitions caused by the execution of instructions are
based on the technical specifications of function blocks for PLCopen motion control. This section pro-
vides an overall description of the MC Function Module, states, and state transitions.
The overall states of the MC Function Module are described in the following table.
*1 This state can be monitored with the MC Common Variable _MC_COM.Status.RunMode .
*2 This state can be monitored with the MC Common Variable _MC_COM.Status.TestMode .
*3 This state can be monitored with the MC Common Variable _ MC_COM.Status.CamTableBusy .
The operation of an axis when motion control instructions are executed for it is shown in the following
figure. Motion control instructions are executed in sequence and axes enter one of the states listed in
the following table.
6-3-1 Status of the Motion Control Function Module
State name Definition
MC Run Mode
*1 Motion control instructions are enabled. The motion control
instructions in the user program are interpreted and motion con-
trol is performed. You can set the MC Run Mode state regard-
less of the operating mode of the CPU Unit.
MC Test Mode
*2 In this state, you can execute a test run from the Sysmac Studio.
Saving Cam Table File
*3 This state exists while the system performs save or wait pro-
cessing for a cam table file.
6-3-2 Axis States
*6
*3
*1
*2 *5
MC_Stop
*4
MC_Home
MC_Move
MC_MoveAbsolute
MC_MoveRelative
MC_MoveFeed
MC_MoveZeroPosition
MC_GearOut
MC_CamOut
MC_SyncMoveVelocity
MC_MoveVelocity
MC_TorqueControl
MC_MoveJog
MC_ImmediateStop
*7: MC_ResetFollowingError
*7
*8
Axis Disabled
Disabled
Error Deceleration Stopping
ErrorStop
Continuous Motion
Continuous
Coordinated Motion
Coordinated
Stopped
Standstill
Deceleration Stopping
Stopping
Homing
Homing
Discrete Motion
Discrete
MC_MoveLink (slave axis)
MC_CombineAxes (slave axis)
MC_CamIn (slave axis)
MC_GearInPos (slave axis)
MC_GearIn (slave axis)
Synchronized Motion
Synchronized