State Transitions

As the single axis and the group are related, the state machines for both are connected. The following description gives an overview:

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statemachine for group

MC_GroupEnable

  • Precondition: The ACS axes are in state StandStill
  • Postcondition:
    • The group changes to state GroupStandby.
    • The ACS axes and MCS axes changed to Synchronized Motion. All axes could be moved by the group.

MC_GroupDisable

  • Precondition: None
  • Postcondition:
    • The group changes to state GroupDisabled.
    • The ACS axes change from Synchronized Motion to StandStill or keep their state if not in Synchronized Motion.
    • The MCS axes change to state Disabled.

MC_Move… applied to GROUP

  • Precondition: The group is in state Standby or GroupMotion.
  • The group changes to state GroupMotion.
  • When a MCS or ACS movement was executed, the group state has to be checked before a group block can be started.

Any axis changes its state (other then Disabled or ErrorStop)

  • Precondition: The group was in a state other then Disabled or ErrorStop.
  • Postcondition: The group is changed to AXES_MOVING_MCS or AXES_MOVING_ACS, as soon as ALL axes are in StandStill again, they will automatically be changed to Synchronized Motion and the group will change to GroupStandby.

Any ACS axis changes its state to ErrorStop

  • Precondition: None
  • Postcondition: The group state is set to Disabled. The MCS axes are set to Disabled.

Any MCS axis changes its state to ErrorStop

  • Precondition: None
  • Postcondition: The group state is set to ErrorStop.

Any axis changes its state to Disabled

  • Precondition: None
  • Postcondition: The group state is set to Disabled. The MCS axes are set to Disabled.