State diagram valid for V3.1.6

Note

Description

1

Applicable for all non-administrative (movement) function blocks.

2

In the GroupStopping state all function blocks can be called but they are not executed, with the exception of MC_GroupDisable and MC_UngroupAllAxes, which cancel the stop and create the transition to GroupDisabled.

3

MC_GroupStop.DONE AND NOT MC_GroupStop.EXECUTE

4

Transition is applicable when the last axis is removed from the group.

5

Transition is applicable while the group is not empty.

6

MC_GroupDisable and MC_UngroupAllAxes can be output in all states. They change the state to GroupDisabled. If they are output in an error state, the state changes to GroupErrorDisabled.

7

From any state with EnableRequested TRUE.

8

If "bIsControlLoopClosed" is TRUE for all axes and the group is not empty. "bPositiveDirection"/"bNegativeDirection" do not have be enabled.

9

MC_GroupEnable returns an error if the group is empty.

10

MC_GroupReset has no effect if the state is different from GroupErrorStop.

11

In the error states all administrative function blocks are permitted with the exception of MC_GroupEnable. However, in the error states you can only create state transitions, e.g. to GroupErrorDisabled for MC_GroupDisable or MC_UngroupAllAxes and MC_RemoveAxisFromGroup, when the last axis is removed.

12

MC_GroupReset must be called to exit the GroupErrorStop state.