The status chart of the axis

At a Glance

The inverters and servodrives are managed by the standard DRIVECOM state diagram. The Motion Function Blocks defines the behavior of the axis at a high level by a standard PLCopen state diagram. The MFB commands act on the axis’ state diagram. The axis is always in one of the defined states. Any motion command is a transition that changes the states of the axis and, as a consequence, the way the current motion is computed.

There are four main status values in this chart:

disabled
standstill
errorstop
stopping.

Other status values are described below.

The Chart

The Axis_Ref state chart is shown below:

Status Values

The following table describes the status values:

Status	Corresponds to
Disabled	Idle or initial status of the axis.
Standstill	Waiting status of the axis, it is powered up and is error-free.
Discrete Motion	Discrete motion in progress.
Continuous Motion	Continuous motion in progress.
Synchronized Motion	Synchronized motion in progress.
MotionTask Motion	Current motion task program.
Downloading	Parameters or motion tasks currently being transferred between the PLC and the servodrive memory.
Homing	The axis is executing a homing.
Stopping	Valid during the execution of the axis’ MC_STOP, the Done and the non-execution of MC_STOP brings the Axis_Ref to the Standstill status.
Errorstop	Valid during the axis stop due to an error, before the error has been acknowledged.