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.

PLCopen axis state model 1:
Figure 1-1: Extended PLCopen axis state model

Hinweis 1

All function blocks can be called from the states (3) Stopping or (4) ErrorStop, even if they are not being executed. Exception: MC_Reset and Error - these function blocks change accordingly to the states (1) Standstill or (4) ErrorStop.

Hinweis 2

MC_Stop.done AND NOT MC_Stop.Execute

Hinweis 3

It is currently only possible to switch to the (11) Disabled or (1) StandStill state with MC_DeactivateAxis

MC_Reset

MC_Reset checks the context from which the reset is requested. If the TorqueControl operating mode is active, the system switches directly from error state (4) ErrorStop to state (10) TorqueControl, as the operating mode cannot be changed in this state.