Motion State Machine
The controller's firmware uses a state machine for motion. The motion state machine has three states (Moving, Idle, Error). Transitions between states occur after a command (Start, Resume, Modify, Stop, E-Stop, Abort, Reset) or after an event (Done).
MPIActions can come from the host or the firmware. For safety, there are restrictions on who can generate certain MPIActions:
* Where Xxxx is the move type.
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