Motion State Diagram

State Diagram

The axis is always in one of the defined states in this diagram:

Note 1 From any state, when an error is detected.

Note 2 From any state except ErrorStop, when MC_Power_PTO.Status = FALSE.

Note 3 MC_Reset_PTO.Done = TRUE and MC_Power_PTO.Status = FALSE.

Note 4 MC_Reset_PTO.Done = TRUE and MC_Power_PTO.Status = TRUE.

Note 5 MC_Power_PTO.Status = TRUE.

Note 6 MC_Stop_PTO.Done = TRUE and MC_Stop_PTO.Execute = FALSE.

The table describes the axis states:

State	Description
Disabled	Initial state of the axis, no motion command is allowed. The axis is not homed.
Standstill	Power is on, there is no error detected, and there are no motion commands active on the axis. Motion command is allowed.
ErrorStop	Highest priority, applicable when an error is detected on the axis or in the controller. Any ongoing move is aborted by a Fast Stop Deceleration. Error pin is set on applicable function blocks, and an ErrorId sets the error code. No further motion command is accepted until a reset has been done using MC_Reset_PTO.
Homing	Applicable when MC_Home_PTO controls the axis.
Discrete	Applicable when MC_MoveRelative_PTO, MC_MoveAbsolute_PTO, or MC_Halt_PTO controls the axis.
Continuous	Applicable when MC_MoveVelocity_PTO controls the axis.
Stopping	Applicable when MC_Stop_PTO controls the axis.

NOTE: Function blocks which are not listed in the state diagram do not affect a change of state of the axis.

The entire motion command including acceleration and deceleration ramps cannot exceed 4,294,967,295 pulses. At the maximum frequency of 100 kHz, the acceleration and deceleration ramps are limited to 80 seconds.

Motion Transition Table

The PTO channel can respond to a new command while executing (and before completing) the ongoing command according to the following table:

Command		Next
Command		Home	MoveVelocity	MoveRelative	MoveAbsolute	Halt	Stop
Ongoing	Standstill	Allowed	Allowed ⁽¹⁾	Allowed ⁽¹⁾	Allowed ⁽¹⁾	Allowed	Allowed
	Home	Rejected	Rejected	Rejected	Rejected	Rejected	Allowed
	MoveVelocity	Rejected	Allowed	Allowed	Allowed	Allowed	Allowed
	MoveRelative	Rejected	Allowed	Allowed	Allowed	Allowed	Allowed
	MoveAbsolute	Rejected	Allowed	Allowed	Allowed	Allowed	Allowed
	Halt	Rejected	Allowed	Allowed	Allowed	Allowed	Allowed
	Stop	Rejected	Rejected	Rejected	Rejected	Rejected	Rejected
⁽¹⁾ When the axis is at standstill, for the buffer modes mcAborting/mcBuffered/mcBlendingPrevious, the move starts immediately. Allowed the new command begins execution even if the previous command has not completed execution. Rejected the new command is ignored and results in the declaration of an error.

NOTE: When an error is detected in the motion transition, the axis goes into ErrorStop state. The ErrorId is set to InvalidTransition.