Motion.State

The current state of the motion object.

When in the idle state, the motion object waits for motion start commands (Trapezoidal, SCurve, SCurveJerk, Velocity, VelocityJerk etc.) to be executed. If the motion command is successful the state will become Moving while the axes are moving. Once the move has completed the state will automatically return to Idle.

The Stopping state allows the current motion to be paused (by decelerating to zero speed within the StopTime) using the Stop command. The Resume command will allow the remainder of the move to be completed.

There are two error states: Error and Stopping Error. The Stopping Error state can be entered by executing the EStop command. This will decelerate the axis to zero speed within the EStopTime, before entering the Error state. The Error state can also be entered directly by executing the Abort command; this will immediately stop the current motion. The motion state will stay in the Error state until a Reset command is executed.

Either the Abort or EStopAbort actions will disable the amplifies and force the DAC to output zero (plus the DACOffset) when they enter the Error state; the EStop action will leave the DAC outputs servoing and the amplifiers enabled.

Many events can be programmed to automatically generate state transitions. Each such event has an action property that defines the automatic action taken when the event is generated. For example the default action for the AmpFault event is to Abort.

This property cannot be saved to flash memory.

Version History

Introduced in MPX 2.0.

Type

Mpx.State (read only)

See Also

Abort
Stop
EStop
EStopAbort
FaultsClear
Resume
AmpEnable

State