■Axis state transition
The axis state changes based on the input combination of Enable and ServoON of MC_Power.
Axis status before input
Input
operation
Enable
(AxisName.Md.AxisStat
us)
4: Standstill
TRUE
0: Disabled
FALSE
1: ErrorStop
TRUE
FALSE
Other than above
TRUE
FALSE
*1 It is "0: Disabled" when the axis status (AxisName.Md.AxisStatus) is "4: Standstill" after deceleration stop.
*2 The axis status (AxisName.Md.AxisStatus) will not transit if the axis status (AxisName.Md.AxisStatus) is "1: ErrorStop" or "2: Stopping"
after deceleration stop.
*3 If Enable turns FALSE during operation, the error "Deceleration Stop by Servo OFF During Operation" (error code: 1A3BH) will occur.
*4 When Enable turns FALSE during operation, the error "Immediate Stop by Servo OFF During Operation" (error code: 1A3CH) occurs. In
this case, on-going FB will be completed or stop immediately, and servo OFF will be executed.
Hardware stroke limit upper/lower limit error occurrence
When the hardware stroke limit upper/lower limit error occurs, the operation stops according to the process selected by
AxisName.Pr.StopMode_HwStrokeLimit.
For details, refer to the following.
Page 289 Hardware Stroke Limit
CPU module error occurrence
When the stop error occurs in the control CPU module, the operation stops according to the process selected by
System.Pr.StopMode_All.
PLC READY [Y0] OFF
When the PLC READY [Y0] is turned OFF, the operation stops according to the process selected by
System.Pr.StopMode_All.
Software stroke limit upper/lower limit error occurrence
When the software stroke limit upper/lower limit error occurs, the operation stops according to the process selected by
AxisName.Pr.StopMode_SwStrokeLimit.
For details, refer to the following.
Page 283 Software Stroke Limit
Processing selection at servo OFF
command during operation
ServoON
TRUE
Independent of the setting
FALSE
TRUE
FALSE
TRUE
FALSE
TRUE
FALSE
TRUE
FALSE
0: Ignore
4: ServoOffAfterImmediateStop
5: ServoOffAfterDecelStop
TRUE
Independent of the setting
FALSE
Axis status after input operation
(AxisName.Md.AxisStatus)
4: Standstill
0: Disabled
0: Disabled
0: Disabled
1: ErrorStop
1: ErrorStop
1: ErrorStop
1: ErrorStop
No transition
*1*2
No transition
*4
1: ErrorStop
*3
1: ErrorStop
*4
1: ErrorStop
*4
1: ErrorStop
4 START AND STOP
4.4 Stop
4
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