PLCopen axis state model
In addition to the axis state model of PLCopen, there is a further state for the torque control mode. At present, the state Disabled is not implemented completely. The following figure shows the possible transitions.
Hinweis 1 | All function blocks can be called from the states (3) Stopping or (4) ErrorStop, even if they are not being executed. Exception: |
Hinweis 2 |
|
Hinweis 3 | It is currently only possible to switch to the (11) Disabled or (1) StandStill state with |
MC_Reset |
|