Fb Status Diagram - Mitsubishi Electric MELSEC-Q-MR-JE-C Reference Manual

FB status diagram

The following figure shows the status diagram of this FB library.
An axis is always in a defined status. A solid arrow in the status diagram figure indicates a transition caused by the start of an
FB. A dashed arrow indicates a transition caused by the command end of an axis or the system.
MC_MoveAbsolute
MC_MoveRelative
MC_MoveAdditive
MC_Halt
Discrete Motion
(5)
Done
MC_Home
Homing (3)
*1 When an error occurs in the axis, the status transits from any status.
*2 When Enable of MC_Power is OFF and no error has occurred in the axis
*3 When MC_Reset is executed and Status of MC_Power is OFF
*4 When MC_Reset is executed and both Enable and Status of MC_Power are ON
*5 When both Enable and Status of MC_Power are ON
*6 When Done of MC_Stop is ON, and Execute of MC_Stop is OFF.
*7 In the zero velocity status. For zero velocity status, refer to the instruction manual of the servo amplifier in use.
Status
Disabled
ErrorStop
Stopping
Homing
Standstill
DiscreteMotion
ContinuousMotion
3 FB LIBRARY
20
3.1 Function Overview of the FB Library
MC_Stop
Stopping (2)
Done
Standstill (4)
Description
Indicates the initial status of an axis. Enable of MC_Power is OFF and no error has occurred in the axis.
The status transits to this status when an error occurs. This status remains while an error has occurred.
The status transits to this status when MC_Stop is executed. This status remains while Execute of MC_Stop is ON.
Indicates that the home position return is in execution.
Indicates that MC_Power is ON and no error has occurred in the axis.
Indicates that the positioning control FB is in execution.
The status transits to this status when MC_MoveAbsolute, MC_MoveRelative, MC_MoveAdditive, or MC_Halt is executed.
Indicates that the continuous control FB is in execution. The status transits to this status when MC_MoveVelocity or
MC_TorqueControl is executed.
*7
*6
*4
*5
MC_MoveVelocity
MC_TorqueControl
Continuous
Motion (6)
Errorstop (1)
*3
Disabled (0)
*1
*2