Leave function

The controllers of an active mover are switched on and the mover may be integrated into a CA motion command, for example MC_MoveAbsoluteCA. The mover must first be stopped and removed from the control system before it can be removed from the system.

For the removal of the mover, the control is switched off for the TcCOM object Mover using the PLC and the AXIS_REF interface. Once the mover is passive via the XTS Utility, its information has been reset to the default settings and its position is 0, it can be removed from the system without the mover triggering an error. The links of the mover to its corresponding SoftDrive object and to its NC axis remain.

The diagram shows the structure of the Leave sequence required to remove a mover from the system.