Chapter 7 Motion Control Programming
7-11
7.5.2 Axis Group State
Note1: The axis group moves by multi-axis motion control instructions.
Note2: Entering “ErrorStop” state when an error occurs on the axis group.
Note3: (1) When axis group is enabled and in ErrorStop state, the DFB_GroupReset becomes effective to switch group
states. (2) When axis group executes DFB_GroupReset in ErrorStop state and every axis of MC_Power is Enabled (ON),
the group is in “Standby” state with all errors cleared and the group maintained; (3) When executing DFB_GroupReset in
ErrorStop, the speed of every axis must be 0 to clear the axis errors; however, the contact of Busy will be ON until every
axis speed in the group is 0 and all errors are cleared to reach Done.
Note4: (1) When axis group is not enabled, the DFB_GroupReset can switch group states.
(2) When axis group executes DFB_GroupReset in ErrorStop state and an axis of MC_Power is not Enabled, the group
state is “Disabled” with all errors cleared and the group removed.
Note5: DFB_GroupDisable swiches the group state to “Disabled.”
Note6: Group state changes to “Standby” when Done of DFB_GroupStop is True and Execute of DFB_GroupStop
changes to Fasle.
Note7: Group state enters to “ErrorStop” when one of the axis of MC_Power is removed during “Stopping”.
Note8: Group state switches to “ErrorStop” when executing
MC_GroupDisable, group motion functions (MC_GroupStop
not included) or a single-axis motion instruction is executed in “Coordinated” state.
Note9: Group state switches to “ErrorStop” when a single-axis motion control instruction is executed in “Coordinated”
state to remove an axis of MC_Power in the axis group.
Note10: If ‘StopMode=1’ in DFB_GroupStop: the execution pauses and when “Execute”=TRUE, the axis group is in
“Stopping” and will change to “Moving” when “Execute”=FALSE
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