State machine

The following state diagram defines the behaviour of the FB.

  • Only one state is active at any particular time.
  • A changeover from one state to another state takes place if the condition for the transition between them has been fulfilled.
  • The numbers correspond to the values of the ENUMS L_MC4P_AGBC_State .

State diagram

Status

Description

Standby

The axes group is in the axes group state "GroupStandby" or "GroupDisabled".

Stop,

If the xGroupStopExecute input is set to TRUE, the active coordinated motion is aborted and the axes group in the "GroupStopping" axes group state is braked to standstill. In this connection, the parameters lrPathStopDec and lrPathStopJerk saved in scPar are used.

  • Only after the xGroupStopExecute input is reset to FALSE, a change takes place to the "Standby" function state.

Operating modes

A direct change between the single operating modes is possible.

  • The operating mode is selected by setting the associated Execute input to TRUE.

Prioritisation (if different modes are selected at the same time):

  1. Homing (referencing) highest priority
  2. SetPosition (set home position)
  3. MoveLinAbs (Linear motion to absolute position)
  4. MoveLinRel (linear motion by defined distance)
  5. MoveDirAbs (point-to-point motion to absolute position)
  6. MoveDirRel (point-to-point motion by defined distance)
  7. ManMode (manual traversing of single axes) lowest priority

External

A function outside the FB L_MC4P_AxesGroupBasicControl generates setpoints for the axes of the axes group (e.g. MC_MoveCircularAbsolute).

Service

An axis of the axes group is supervised via one of the lower-level L_MC1P_AxisBasicControl blocks.

Error

The axis is in the "Errorstop" axis state.

  • Resetting the error results in an automatic changeover to "Standby".

The individual operating modes are described in the following subsections.