MC_Power

The function block is used to switch the software enable of an axis. Enable can be activated for both directions of travel or only one direction. At "Status" output operational readiness of the axis is indicated.

A velocity override influences the velocity of all travel commands by a specified percentage.

Depending on the drive type, "Status" also signals operational readiness of the drive. Digital drives provide feedback on operational readiness, while analog drives are unable to indicate their operational readiness. In the latter case Status only indicated operational readiness of the control side.

	In addition to software enable it may be necessary to activate a hardware enable signal in order to enable a drive. This signal is not influenced by MC_Power and must be activated separately by the PLC.

Inputs

VAR_INPUT
    Enable          : BOOL; (* B *)
    Enable_Positive : BOOL; (* E *)
    Enable_Negative : BOOL; (* E *)
    Override        : LREAL (* V *) := 100.0; (* in percent - Beckhoff proprietary input *)
    BufferMode      : MC_BufferMode; (* V *)
    Options         : ST_PowerOptions;
END_VAR

Name	Type	Description
Enable	BOOL	General software enable for the axis.
Enable_Positive	BOOL	Feed enable in positive direction. Only takes effect if Enable = TRUE.
Enable_Negative	BOOL	Feed enable in negative direction. Only takes effect if Enable = TRUE.
Override	LREAL	Velocity override in % for all movement commands. (0 ≤ Override ≤ 100.0)
BufferMode	MC_BufferMode	This is evaluated when "Enable" is reset. MC_Aborting mode leads to immediate deactivation of the axis enable. Otherwise, e.g. in "MC_Buffered" mode, the function block waits until the axis no longer executes a command.
Options	ST_PowerOptions	Not implemented.

Inputs/outputs

VAR_IN_OUT
    Axis : AXIS_REF;
END_VAR

Name	Type	Description
Axis	AXIS_REF	Axis data structure that unambiguously addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error state.

Outputs

VAR_OUTPUT
    Status  : BOOL; (* B *)
    Busy    : BOOL; (* V *)
    Active  : BOOL; (* V *)
    Error   : BOOL; (* B *)
    ErrorID : UDINT; (* E *)
END_VAR

Name	Type	Description
Status	BOOL	TRUE when the axis is ready for operation.
Busy	BOOL	TRUE, as long as the function block is called with Enable = TRUE.
Active	BOOL	Indicates that the command is executed.
Error	BOOL	TRUE, if an error occurs.
ErrorID	UDINT	If the error output is set, this parameter supplies the error number.

Requirements

Development environment	Target system type	PLC libraries to include
TwinCAT v3.0.0	PC or CX (x86 or x64)	Tc2_MC2