The " ErrorStop " state has the highest priority and gets active in the event of an error. The error can be caused by a function block in the application or a monitoring function of the axis data. A change to the " ErrorStop " state also takes place if the connected drive has changed to an error state. For this purpose, the error bit in the status word is evaluated cyclically. make this description short.

The " Disabled " device state describes the basic state of an axis:

• The axis is inhibited.

• No motion commands can be carried out.

• There is no error in the axis.

Axis state "Standstill"

• The axis is enabled.

• There is no error in the axis.

• NO motion commands are active.

The axis is stopped via MC_Stop or QSPApplication.

The axis performs an absolute or relative positioning. The motion is performed by a profile generator. The axis stops at the target position.

The axis is synchronised to the master values. The axis follows a master values.

The axis follows the setpoints. The target position is unknown.