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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