Precautions - Mitsubishi Electric MELSEC iQ-R Series User Manual

The status transits as shown below according to the start of the MCFB. The state transition may varies depending on the axis
type. Refer to the specifications of each axis type.
Automatic transition
Event transition
Discrete Motion
FBs
Discrete Motion
(Positioning operation)
Homing
FBs
Homing
(Homing)
*1 From any state, transits when an error in the axis occurred.
*2 From any state, transits when MC_Power.Enable = FALSE and there is no error in the axis.
Transits when Enable of the MC_Power = TRUE, SV_ON = FALSE, and no error occurs in the axis from Standstill state
*3 Transits by the status error cancel for the error reset command during the servo OFF state.
*4 Transits by the status error cancel for the error reset command during the servo ON state.
*5 Transits when MC_Power.Enable = TRUE, SV_ON = TRUE, and MC_Power.Status = TRUE.
*6 Transits when MC_Stop.Done = TRUE and MC_Stop.Execute = FALSE.
*7 Transits when the forced servo OFF is enabled by the driver from Standstill state.
Transits when a communication with the driver fails from Standstill state.
*8 Transits automatically when the virtual axis is enabled.
*9 Transits when the axes group used as configuration axes turns to the GroupMoving state.
The classification of operation FBs such as DiscreteMotion FBs, SynchronizedMotion FBs, ContinuousMotion FBs, and
Homing FBs, refer to the following.
Page 591 List of FBs

Precautions

• An error does not occur even if there is no axis (real axis, virtual axis, or encoder axis) in the system setting. Since there is
no axis to be controlled, motion control is not available. Operations other than motion control are available such as program
execution with ST language.
• An error occurs if a parameter error occurs at the axis variable initialization. At this time, the axis variable is generated as
an instance, however, the axis status (AxisName.Md.AxisStatus) will be "-1: Invalid". The monitor data, etc. of the axis
where "-1: Invalid" occurred is not refreshed. If the axis is specified by the user program, an error occurs.
1 AXIS SETTING
36
1.1 Axis
Synchronized Motion
FBs
Synchronized Motion
(Synchronous operation)
MC_Stop
Stopping
(Deceleration stop)
Done
*9
Standstill
(Standby)
Done
*6
*4
*5
*8
Continuous Motion
FBs
Continuous Motion
(Continuous operation)
ErrorStop
(Error stop)
*3
Disabled
(Axis disabled)
Start
*1
*2
*7