Single axis states

The figure below shows the state of an axis.

Disabled: the move of the axis is not influenced by functions. Power is off and there is no error in the axis.

Errorstop: an error occurred on the axis. As long as the error is pending the state remains ErrorStop. In this state, the axis goes to a stop, if possible. There is no further motion command accepted until a reset has been done.

Standstill: power is on, no error on the axis, and there are no motion commands active on the axis.

Homing: defines a position for the axis before starting any movement when using an incremental encoder.

Stopping: forces the axis to stop. While the axis is in the Stopping state, other functions can't perform any motion on this axis.

Discrete Motion: performs a motion and goes back to the Standstill state after the motion is completed.

Synchronized Motion: the axis is controlled by another axis or group.

Continuous Motion: performs a motion and keeps the velocity after the motion is completed.

 

Note 1: from any state. An error occurred on the axis.

Note 2: from any state. PowerAxis.Enable = FALSE and there is no error on the axis.

Note 3: ResetAxis and PowerAxis.Status = FALSE.

Note 4: ResetAxis and PowerAxis.Status = TRUE and PowerAxis.Enable = TRUE.

Note 5: PowerAxis.Enable = TRUE and PowerAxis.Status = TRUE.

Note 6: StopAxis.Done = TRUE and StopAxis.Execute = FALSE.