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<I/O mode>
MC_MoveAbsolute
MC_MoveRelative
DiscreteMotion
Done
MCv_Home
Homing
*1 When an error occurs in the axis, transition occurs from any state.
*2 When Enable=OFF for MC_Power and there is no error in the axis.
*3 MC_Reset is executed and Status=OFF for MC_Power.
*4 When MC_Reset is executed and Enable=ON for MC_Power, and Status=ON for MC_Power.
*5 When Enable=ON for MC_Power and Status=ON for MC_Power.
*6 When Done=ON for MC_Stop and Execute=OFF for MC_Stop. (Excluding MC_Power)
State
Disabled
Errorstop
Stopping
Homing
Standstill
DiscreteMotion
The axis state can be checked with the FbAxisStatus of axis information class (AXIS_REF class). The following values are
stored to FbAxisStatus.
Value
MMC_FBST_DISABLED
MMC_FBST_ERRORSTOP
MMC_FBST_STOPPING
MMC_FBST_HOMING
MMC_FBST_STANDSTILL
MMC_FBST_DISCRETE_MOTION
5 API LIBRARY DETAILS (FUNCTION BLOCK)
148
5.1 MC_FunctionBlock Class
MC_Stop
Stopping
*6
Done
Standstill
: Transition by the function block being started
: Axis command ending, or transition by system
Description
The initial state of the axis. Enable is OFF for MC_Power and no error is occurring in the axis.
Transitions when an error has occurred. In an error occurrence, the axis remains in this state.
Transition by MC_Stop execution. While Execute is ON for MC_Stop, the axis remains in the Stopping state.
The axis is in home position return operation.
MC_Power is ON and an error is not occurring in the axis.
A function block for positioning control is being executed.
Transition by MC_MoveAbsolute and MC_MoveRelative.
Description
Disabled
Errorstop
Stopping
Homing
Standstill
DiscreteMotion
Errorstop
*4
*3
*5
Disabled
*1
*2
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