Omron NJ501-1400 User Manual page 127

*1 Transition into this state occurs when there is an axis error in any state except for Coordinated Motion state.
*2 Transition into this state occurs when there are no axis errors and the Status output to the MC_Power instruc-
tion is FALSE. (The Servo is OFF.)
*3 Transition into this state occurs if an error is reset with the MC_Reset or ResetMCError instruction when the
Servo is OFF.
*4 Transition into this state occurs if an error is reset with the MC_Reset or ResetMCError instruction when the
Servo is ON.
*5 Transition into this state occurs when the Enable input to the MC_Power instruction changes to TRUE and the
Status (Servo ON) output from the MC_Power instruction changes to TRUE. (The Servo is ON.)
*6 Transition into this state occurs when the Done output from the MC_Stop instruction is TRUE and the Execute
input to the MC_Stop instruction changes to FALSE.
*7 Transition into the Deceleration Stopping state occurs when the MC_ResetFollowingError instruction is exe-
cuted.
*8 The Continuous Motion state exists from when velocity control is set for the MoveMode input variable of the
MC_MoveFeed instruction until a trigger input is detected.
State name
Servo OFF
Axis Disabled
Error Deceleration
Stopping
Servo ON
Stopped
Discrete Motion
Continuous Motion
Synchronized Motion
Deceleration Stopping
Error Deceleration
Stopping
Homing
Coordinated Motion
Note Axis status can be monitored in the member variables of the Axis Variables _MC_AX[0].Status to
_MC_AX[63].Status.
NJ-series CPU Unit Motion Control User's Manual (W507)
In this state, the Servo is OFF for the axis. When this state is moved to, the buff-
ered status for multi-execution of instructions is cleared.
In this state, the Servo is OFF for the axis, the axis is stopped, and execution
preparations are completed.
In this state, the Servo is OFF for the axis, the axis is stopped, and an axis error
has occurred.
In this state, the Servo is ON for the axis.
In this state, the Servo is ON for the axis and the axis is stopped.
In this state, positioning is performed for the specified target position. This
includes when waiting the in-position status and when the velocity is 0 because
the override factor was set to 0 during a discrete motion.
In this state, continuous motion control is executed with no specified target
position. This state exists during velocity control or torque control. This includes
when the velocity is 0 because the target velocity is set to 0 and when the
velocity is 0 due to an override factor set to 0 during continuous motion.
In this state, the synchronized control is performed for the axis with synchro-
nized control commands. This includes waiting for synchronization after chang-
ing to synchronized control instructions.
In this state, the axis is stopping due to a MC_Stop or MC_TouchProbe (Enable
External Latch) instruction. This includes when Execute is TRUE after stopping
for the MC_Stop instruction. In this state, it is not possible to execute axis oper-
ation commands. If an attempt is made to execute one, CommandAborted for
the instruction changes to TRUE.
In this state, the Servo is ON for the axis and an axis error has occurred. This
includes during execution of the MC_ImmediateStop (Immediate Stop) instruc-
tion and during a deceleration stop for an axis error. It is not possible to execute
axis operation commands in this state. The instruction will enter the aborted
(CommandAborted = TRUE) status if executed.
In this state, home is being searched for by the MC_Home instruction.
In this state, the axis is being controlled by an instruction for an axes group
command. In this state, the axis is in motion for an axes group state of Group-
Moving, GroupStopping, or GroupErrorStop.
6 Motion Control Programming
Definition
6
6-5