MC_Power

MC_Power 1:

MC_Power activates software enable for 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.

	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. 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.

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 *)
END_VAR

MC_BufferMode

Enable	General software enable for the axis.
Enable_Positive	Feed enable in positive direction. Only takes effect if Enable = TRUE.
Enable_Negative	Feed enable in negative direction. Only takes effect if Enable = TRUE.
Override	Velocity override in % for all movement commands. (0 ≤Override≤ 100.0)
BufferMode	The BufferMode is evaluated if 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.

General rules for MC function blocks

Outputs


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

Status	Status=TRUE indicates that the axis is ready for operation.
Busy	The Busy output is TRUE, as long as the function block is called up with Enable = TRUE
Active	Active indicates that the command is executed.
Error	Becomes TRUE if an error occurs.
ErrorID	If the error output is set, this parameter supplies the error number

General rules for MC function blocks

Inputs/outputs


VAR_IN_OUT
    Axis     : AXIS_REF;
END_VAR

Axis

Axis data structure

The axis data structure of type AXIS_REF addresses an axis unambiguously within the system. Among other parameters it contains the current axis status, including position, velocity or error state.