Axes Group States - Omron NJ501-1400 User Manual

6 Motion Control Programming
6-3-3

Axes Group States

The operation of an axes group when motion control instructions are executed for it is shown in the fol-
lowing figure.
Axes Group Disabled
Disabled
*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.
State name
Axes Group Disabled
Error Deceleration
Stopping
Axes Group Enabled
6-6
Moving
Moving
MC_GroupEnable
Stopped
Standby
MC_GroupDisable
*5
The axes group is disabled in this state. When this state is entered, the buffered
status for multi-execution of instructions is cleared.
In this state, an error occurred in an axes group that is disabled.
The axes group is enabled in this state.
MC_GroupStop
Deceleration Stopping
Stopping
*1
MC_GroupImmediateStop
*6
Error Deceleration Stopping
ErrorStop
*3
*6
*4
Definition
NJ-series CPU Unit Motion Control User's Manual (W507)
*2