Yaskawa MotionWorks IEC - Manual (Page 11)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 3
The State Diagram
The state diagram shown defines the behavior of the axis at a high level
when motion control function blocks are "simultaneously" activated. This
combination of motion profiles is useful in building a more complicated
profile or to treat exceptions within a program.
The basic rule is that motion commands are always taken sequentially.
These commands act on the axis' state diagram. The axis is always in one
of the following defined states:

Standstill (no movement)

Homing (movement to reference position)

Discrete Motion (movement towards target position)

Continuous Motion (jogging)

Synchronized Motion (synchronized movement of master and slave)

Stopping (axis is stopped)

ErrorStop (axis error occurred)
Any motion command is a transition that changes the state of the axis and,
as a consequence, modifies the way the current motion is computed. A
normal procedure would start in Standstill. In this state, the power can be
switched on per axis (via the Power command). Also, one can access the
Homing state (via the issue of the Home command per axis), which after
normal completion returns to Standstill. From here, one can transfer an
axis to either Discrete Motion or Continuous Motion. Via the Stopping state,
one can return to Standstill. ErrorStop is a state to which the axis
transfers in case of an error. Via a Reset command, one can return to
Standstill, from which the machine can be moved to an operational state
again. Please note that the states define the functionality of the Function
Blocks.