Group State Diagram

The state diagram describes the state of a Coordinated Motion group. The states described here can be read from the PLC using the function block MC_GroupReadStatus.

Group State Diagram 1:
Group State Diagram 2:

Note

Description

1

Applicable for all non-administrative (movement) function blocks.

2

In the GroupStopping state, many function blocks can be called, but they are not executed. Exceptions are MC_GroupDisable and MC_UngroupAllAxes, which cancel the stop and create the transition to the GroupDisabled state.

3

MC_GroupStop.DONE

4

The number of axes in the group (added via MC_AddAxisToGroup) must be equal to the number of axes in the spatial axis convention plus the Additional Axes Count.

5

-

6

MC_GroupDisable can be called in all states and changes the state to GroupDisabled. When MC_GroupDisable is called in an error state, the state changes to GroupErrorDisabled.

7

The state change to GroupErrorEnabled occurs in the axis/group error case from any state in which the group is enabled.

8

The state change occurs when "bIsControlLoopClosed" is TRUE for all axes. bPositiveDirection"/"bNegativeDirection" do not have to be enabled.

9

-

10

MC_GroupReset has no effect if the state is different from GroupErrorStop. MC_GroupReset must be called to exit the GroupErrorStop state.