Enabling Axes Group - Mitsubishi Electric MELSEC iQ-R Series User Manual

Enabling axes group

When an axes group is used in a motion FB, the axes group status
(AxesGroupName.Md.GroupStatus) must be "4: GroupStandby" by executing MC_GroupEnable to the axes group. The axes
group can be started in the motion FB when the axes group status (AxesGroupName.Md.GroupStatus) is "4: GroupStandby"
and the axis status (AxisName.Md.AxisStatus) of all configuration axes is "4: Standstill".
Axes group state transition
The following shows status that an axes group can enter.
The current status can be referred with axes group status (AxesGroupName.Md.GroupStatus).
When the axes group is set to "4: GroupStandby", AxisName.Md.UseInGroup of the configuration axes turns TRUE.
Status
0: GroupDisabled
1: GroupErrorStop
2: GroupStopping
4: GroupStandby
5: GroupMoving
The status is transited as the following figure according to start of the MCFB.
Automatic transition
Event transition
Start
GroupDisabled
(Axes group disabled)
*1 All group operation instructions
*2 Transits when an error caused by an axes group occurs in the status other than GroupDisabled.
Transits when an error caused by an configuration axes occurs in the status other than GroupDisabled.
*3 Transits when status error is cleared by the axes group error reset.
*4 Transits when MC_GroupStop.Done = TRUE and MC_GroupStop.Execute = FALSE.
*5 Transits when an axes group is disabled as status error is cleared by carrying out MC_GroupDisable or resetting axes group error.
*6 Transits when a stop of program execution is completed by RUN status  STOP status
For divisions of GroupMoving FB in the operation FB, refer to the following.
Page 591 List of FBs
1 AXIS SETTING
56
1.5 Axes Group
Description
Axes group is disabled.
MCFB cannot be executed in this status.
The instruction which is being executed will be stopped immediately to transit this status.
Axes group is in the deceleration stop or the stop status by an error occurrence.
When the axis status (AxisName.Md.AxisStatus) is set to "1: ErrorStop" in any of the configuration axes,
the axes group also enters this status.
The deceleration stop is executed by MC_GroupStop. After the axis stop is completed, this status will
be maintained until the Execute of MC_GroupStop turns FALSE.
The MCFB cannot be executed in this status.
Axes group is enabled and stand-by. (Not depending on the servo ON/OFF status.)
The MCFB is executed in an axes group.
When transiting into this status, the axis status (AxisName.Md.AxisStatus) of all configuration axes turn
to "7: SynchronizedMotion".
GroupMoving FB
GroupMoving
(Operation)
MC_GroupEnable
GroupStandby
(Standby)
MC_GroupDisable
*6
MC_GroupStop
GroupStopping
*1
(Deceleration stop)
*4
*3
*5
GroupErrorStop
*2
(Error stop)