Danfoss VLT Series Programming Manual page 175

Programming
the states. These motion commands may also be issued
when the axis is already in the corresponding motion state.
®
PLCopen function blocks that are not listed in the state
diagram do not affect or change the state of the axis. The
®
PLCopen state information and the transition between the
states is handled and kept inside the PLC library. The servo
drive has no knowledge about the PLCopen
machine.
®
The PLCopen state changes as soon as a function block is
activated and the preconditions are checked. That does not
necessarily mean that the axis already changed the mode
of operation. The new PLCopen
during the sending of parameters before the actual
activation of the functionality (for example, in the case of
Homing).
MC_GearIn_ISD51x (Slave)
MC_GearInPos_ISD51x (Slave)
MC_CamIn_ISD51x (Slave)
MC_MoveAbsolute_ISD51x
Synchronized
MC_MoveRelative_ISD51x
Motion
MC_MoveAdditive_ISD51x
MC_Halt_ISD51x
MC_MoveSuperimposed_ISD51x
Discrete
Motion
MC_Stop_ISD51x
Done
Stopping
MC_Home_ISD51x
Done
Homing Standstill
Done
Note Description
1 From any state. An error in the axis occurred.
2 From any state. MC_Power.Enable = FALSE and there is no
error in the axis.
3 MC_Reset AND MC_Power.Status = FALSE
4 MC_Reset AND MC_Power.Status = TRUE AND
MC_Power.Enable = TRUE (not valid for ISD 510)
5 MC_Power.Enable = TRUE AND MC_Power.Status = TRUE
6 MC_Stop.Done = TRUE AND MC_Stop.Execute = FALSE
7 Possible for Homing modes that require no motion. After
Homing is done, the state changes back to the original
state (for example, Disabled → Homing → Disabled or
Standstill → Homing → Standstill).
Illustration 6.18 PLCopen State Machine
Disabled
The state Disabled describes the initial state of the axis. In
this state, the movement of the axis is not influenced by
the function blocks. Power is off and there is no error in
the axis.
MG36D102
Programming Guide
®
state
®
state is already active
MC_MoveVelocity_ISD51x
MC_TorqueControl_ISD51x
MC_GetInertia_ISD51x
Continuous
Motion
1
Errorstop
4
6
3
5 2
Disabled
7
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If the MC_Power_ISD51x function block is called with
Enable := TRUE while in state Disabled, the state changes to
Standstill.
Calling up MC_Power_ISD51x when Enable is FALSE in any
state except ErrorStop transfers the axis to the state
Disabled, either directly or via any other state. Any ongoing
motion commands on the axis are aborted (CommandA-
borted).
ErrorStop
ErrorStop is valid as highest priority and applicable if there
is an error. The power of the axis is always disabled and
cannot be changed via MC_Power_ISD51x. While the error
is pending, the state remains ErrorStop and, if possible, the
axis stops. No further motion command can be accepted
until a reset is carried out from the ErrorStop state.
The transition to ErrorStop refers to errors from the axis
and axis control, and not from the function block
instances. These axis errors may also be reflected in the
output of the function blocks function block instances
errors.
Standstill
Power is on, there is no error in the axis, and there are no
motion commands active on the axis.
Homing
The axis is currently executing a homing procedure. The
state Homing is left automatically as soon as the procedure
is completed (with an error or successfully). No other
motion commands except MC_Stop_ISD51x can be issued
when the axis is in state Homing. This state can only be
entered out of states Disabled (depending on the homing
method) or Standstill.
Stopping
The axis changes to state Stopping when function block
MC_Stop_ISD51x is called when Execute is TRUE. It can be
used as a kind of emergency stop functionality, or in
exception situations. No other motion function block can
take over control of the axis if the input Execute is still
TRUE and the servo drive has not reached velocity 0. If
both conditions are met, the axis changes to state
Standstill.
For more information on this state, see
chapter 6.5.5.2 MC_Stop_ISD51x.
Discrete motion
The axis processes a motion command that leads to a
specific position, that is, it is running position controlled.
The axis leaves the state Discrete Motion and automatically
changes to state Standstill as soon as the specific target is
reached.
Synchronized motion
The axis is processing a motion related to a master axis
(guide value). The axis only leaves this state when the
currently ongoing (synchronized) motion is aborted by
another (non-synchronized) motion command.
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