State Transition - Mitsubishi Electric MELSEC iQ-R Series User Manual

State transition

The following shows the status that a single axis can be in.
The current status can be referred in axis status (AxisName.Md.AxisStatus).
Status
0: Disabled
1: ErrorStop
2: Stopping
3: Homing
4: Standstill
5: DiscreteMotion
6: ContinuousMotion
7: SynchronizedMotion
-1: Invalid
Description
The status where the axis cannot be used.
In case of a real drive axis, this status indicates the servo OFF stop.
In case of a real axis, this status occurs also when the slave device is disconnected from the
network.
The status where the deceleration stop or stop by error occurrence.
In case of a real drive axis, the axis is servo ON or servo OFF depending on the error.
The status where the deceleration stop has been executed by MC_Stop. After the axis stop is
completed, this status continues until the Execute of MC_Stop changes to FALSE.
The MCFB cannot be executed in this status.
The status where the homing has been executed in the driver or the motion system.
The status where the MCFB can be used.
In case of a real drive axis, the axis is servo ON stop.
The status where the positioning operation has been executed to the target position.
.The status where the operation is not stopped after the processing is completed in the FB such as
speed control and torque control has been executed.
The status where the axis synchronizes with the master axis by the single synchronous control FB.
Transits to this status after the axes group set as the configuration axes changes to the "5:
GroupMoving" status.
Axes cannot be used in this status due to axis variable uninitialization (parameter error occurrence
at an initialization, etc.).
1
1 AXIS SETTING
35
1.1 Axis