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Axis Group States

The image below shows the possible states for axis groups and the transitions between the states.

_sm_img_state_machine.png

  • The errors of individual axes always direct the axis group to the GroupErrorStop state.

  • If the axis group switches to GroupMoving, then all axes are switched to SynchronizedMotion.

  • If the axis group switches from GroupMoving to GroupStandby, then all axes are switched to standstill.

  • If the axis group switches from GroupMoving to GroupErrorStop, then all axes are switched to GroupErrorStop.

  • If the axis group is in GroupStandby, then the individual axes are not necessarily all in standstill because they can be controlled by means of single-axis motion function blocks such as MC_Jog.

  • If motion is terminated with an error, then all buffered subsequent movements are aborted with CommandAborted.

  • As long as the axis group follows a dynamic coordinate system, it will stay in GroupMoving.

  • The axis group is in GroupMoving if and only if the group is moved in a coordinated manner (by one of the motion blocks from Part 4). Switching from GroupMoving to GroupStandby is done one cycle after the last position change.

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