Chapter 7 Motion Control Programming 7.5.2 Axis Group State 9 Note1: the axis group moves by multi-axis motion control instructions. Note2: entering “ErrorStop” state when an error occurs on the axis group. Note3: when axis group is enabled, DFB_GroupReset switches the goup state to “Standby.” Note4: when axis group is not enabled, DFB_GroupReset switches the group state to “Disabled.” Note5: DFB_GroupDisable swiches the group state to “Disabled.” Note6: group state changes to “Standby” when Done of DFB_GroupStop is True and Execute of DFB_GroupStop changes to Fasle. single-axis motion instruciton is executed in “Coordinated” state. Note7: group state switches to “ErrorStop” when 1.
DFB_GroupDisable executes, 2. group motion executes, or 3. a Note8: group state switches to “ErrorStop” when 1. DFB_GroupDisable executes, 2. group motion executes, or 3. a single-axis motion instruciton is executed in “Coordinated” state. Note9: group state switches to “ErrorStop” when a single-axis motion control instruction is executed in “Coordinated” state. Note10: group state switches to “ErrorStop” when an axis in the axis group is not in “Standstill”, and the following conditions occur: 1. DFB_GroupEnable is executed, 2. Group motion executes, or 3. DFB_GroupStop executes. 7_ 7-11