13.9 States and behavior of the outputs13.9.1 StatesThe state diagram shows all the states that an axis can assume. An axis is always in oneof these states. Depending on the output state, a state change can take place automati-cally or via the blocks of the axis control. In principle, movement tasks are processedsequentially. You can use the following function blocks to query the statenÄ Chap. 13.7.3.11 ‘FB 812 - MC_ReadStatus - PLCopen status’ page 565n Parameter PLCopenState fromÄ Chap. 13.7.2.2 ‘FB 860 - VMC_AxisControl - Con-trol block axis control’ page 544Return when done(1) From each state: An error has occurred at the axis(2) From each state: MC_Power.Enable = FALSE and there is no error on the axis(3) MC_Reset and MC_Power.Status = FALSE(4) MC_Reset and MC_Power.Status = TRUE and MC_Power.Enable = TRUE(5) MC_Power.Enable = TRUE and MC_Power.Status = TRUE(6) MC_Stop.Done = TRUE and MC_Stop.Execute = FALSEThere are the following statesn Disabled– Basic state of an axis.– Axis can not be moved by any function block.n Error Stop– An error has occurred on the axis.– Axis is stopped and is blocked for further motion tasks.– Axis remains in this state until the error is solved and a RESET is triggered.– Errors on an axis are also reported via the corresponding function block.– Errors on a function block do not lead to this staten Stand Still– Ready for motion tasks– There is no error on the axis– There are no motion tasks active on the axis– Axis is power suppliedn Stopping– Axis is currently stopped:Ä Chap. 13.7.3.5 ‘FB 802 - MC_Stop - stop axis’ page 553Ä Chap. 13.7.2.2 ‘FB 860 - VMC_AxisControl - Control block axis control’page 544– The Stopping state is active as long as a Stop command is active (Execute = 1).Even if the axis is already stopped. Then the state automatically changes toStandstill.State diagramVIPA SPEED7 Motion control - Simple Motion Control LibraryStates and behavior of the outputs > StatesHB00 | OPL_SP7 | Operation list | en | 18-30 633
