Driver State Transition; Precautions - Mitsubishi Electric MELSEC iQ-R Series User Manual

Driver state transition

The connected driver device as an axis performs operation according to the state transition defined by the CiA402 drive
profile shown below. The motion system determines whether the driver is being servo ON or OFF status based on the current
driver status.
The current driver status can be monitored by AxisName.Md.Driver_State.
For details of operation in each status, refer to the connected driver manuals.
Not connected
Servo OFF
AxisName.Md.Driver_ReadyOn FALSE
AxisName.Md.Driver_ServoOn FALSE
Servo OFF
AxisName.Md.Driver_ReadyOn TRUE
AxisName.Md.Driver_ServoOn FALSE
Servo ON
AxisName.Md.Driver_ReadyOn
TRUE
AxisName.Md.Driver_ServoOn
TRUE

Precautions

• When MC_Power calls the instruction first after switching to the PLC READY [Y0]ON, the axis information is determined.
Even if the axis information is changed while Enable is FALSE, the change is not reflected.
• Do not set two or more FBs of MC_Power for one axis. The operation is not guaranteed if those are set.
• If MC_Power is executed to the virtual axis, both Status and ReadyStatus are turned ON regardless of the ServoON input.
NotReadyToSwitchOn
QuickStopActive
Start
SwitchOnDisabled
ReadyToSwitchOn
SwitchedOn
OperationEnable
2 AXIS MANAGEMENT FUNCTIONS
Error
(Servo OFF)
Fault
FaultReactionActive
2.4 Servo ON/OFF
2
77