PLCopen State Diagram

The following diagram provides a general overview of the PLCOpen state machine. Some of the function blocks shown are not implemented by the library PLCopen Motion Control Part 1, Version 2.0. At any given point in time, the axis is in exactly one state. If a function block is executed or an error is detected, this may cause a state transition. The axis state is available via the property etAxisState of each Axis_Ref.

Note 1 An error has been detected (transition from any state).

Note 2 The input Enable of the function block MC_Power is set to FALSE and no error has been detected (transition from any state).

Note 3 MC_Reset and MC_Power.Status = FALSE.

Note 4 MC_Reset and MC_Power.Status = TRUE and MC_Power.Enable = TRUE.

Note 5 MC_Power.Enable = TRUE and MC_Power.Status = TRUE.

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