MC_Power

The MC_Power FB switches the power of the drive of the axis defined by AXIS_REF on or off. It is assigned to the group of administrative FBs.

Block diagram

Parameters of the FB

VAR_IN_OUT
	Axis	AXIS_REF	Axis reference
VAR_INPUT
	Enable	BOOL	If ‘Enable’ is true, power is on.
	Enable_Positive	BOOL	If ‘Enable’ is true, permits motion in positive direction only. This feature is currently not supported.
	Enable_Negative	BOOL	If ‘Enable’ is true, permits motion in negative direction only. This feature is currently not supported.
VAR_OUTPUT
	Status	BOOL	Effective state of the power stage.
	Error	BOOL	Indicates if an error has occurred.
	ErrorID	WORD	Errror identification.
	DriveEnabled	BOOL	TRUE indicates that the drive is ready for enabling power.
	DriveReady	BOOL	TRUE indicates that the drive is being controlled.

Behavior of the FB

The power for the drive is connected only if all three inputs have the value TRUE.
Regardless of the status of the axis, this FB can be commanded, and the command can be sent to the motion controller.
If there is an error in other axes, the MC_Power FB reacts with an axis error (‘ErrorID’ = 40001 and ‘MC_ReadAxisError.ErrorID’ = 294039)
The behavior of the axis depends on the defined drive type. If the drive type simulation (kenngr.antr_typ 4) is defined for the axis, the ‘status’ output is also simulated.
If the drive type DSE (see kenngr.antr_typ) is defined for the axis and motors with an integrated brake are used, the FB also contains opening of the brakes.
The setting of the braking deceleration times when setting/removing the controller enabling signals by means of this FB are defined in the axis lists achsmds[X].lis by means of the following entries:

antr_digital.typ.dse.brake_open_delay_time
antr_digital.typ.dse.brake_open_time
antr_digital.typ.dse.brake_close_premature_time.
Refer to the following timing diagrams for the exact behavior:

Brake opening:

Brake closing: