6-9
6 Motion Control Programming
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
6-3 State Transitions
6
6-3-3 Axes Group States
The operation of an axes group when motion control instructions are executed for it is shown in the fol-
lowing figure.
*1 The Moving state is entered for any axes group motion control instruction.
*2 The ErrorStop state is entered from any other state. It is even entered if an error occurs when the axes group
is disabled.
*3 The Standby state is entered when the MC_GroupReset or ResetMCError instruction is executed for an
enabled axes group.
*4 The Disabled state is entered when the MC_GroupReset or ResetMCError instruction is executed for a dis-
abled axes group.
*5 The same state is returned to if the MC_GroupDisable is executed in ErrorStop state.
*6 Stopping state is entered when the Done output variable from the MC_GroupStop instruction is TRUE and the
Execute input variable to the same instruction is FALSE.
*7 Ready state is entered if all of the following conditions are met in Standby state.
• The Servo is ON for all composition axes.
• Execution of the MC_Stop instruction is not in progress for any composition axis.
• Home is defined for all composition axes.
6-3-3 Axes Group States
State name Definition
Axes Group Disabled The axes group is disabled in this state. When this state is entered, the buffered
status for multi-execution of instructions is cleared.
Error Deceleration
Stopping
*1
In this state, an error occurred in an axes group that is disabled.
Axes Group Enabled The axes group is enabled in this state.
*6
*3
*1
*2
*5
MC_GroupImmediateStop
*4
MC_GroupEnable
MC_GroupStop
MC_GroupDisable
*6
Moving
Moving
Deceleration Stopping
Stopping
Error Deceleration Stopping
ErrorStop
Axes Group Disabled
Disabled
Standby
Standby
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