User Manual

Motion control is easy
10.5 Motion control instructions
Easy Book
218 Manual, 03/2014, A5E02486774-AF
Table 10- 7 MC_Power instruction
LAD / FBD
SCL
Description
"MC_Power_DB"(
Axis:=_multi_fb_in_,
Enable:=_bool_in_,
StopMode:=_int_in_,
Status=>_bool_out_,
Busy=>_bool_out_,
Error=>_bool_out_,
ErrorID=>_word_out_,
ErrorInfo=>_word_out_);
The MC_Power motion control instruction enables
or disables an axis. Before you can enable or
disable the axis, ensure the following conditions:
• The technology object has been configured
correctly.
• There is no pending enable-inhibiting error.
The execution of MC_Power cannot be aborted by
a motion control task. Disabling the axis (input
parameter Enable = FALSE) aborts all motion
control tasks for the associated technology object.
1
STEP 7 automatically creates the DB when you insert the instruction.
2
In the SCL example, "MC_Power_DB" is the name of the instance DB.
Table 10- 8 Parameters for the MC_Power instruction
Parameter and type
Data type
Description
Axis
IN
TO_Axis_1
Axis technology object
Enable IN Bool
• FALSE (default): All active tasks are aborted according to the
parameterized "StopMode" and the axis is stopped.
• TRUE: Motion Control attempts to enable the axis.
StopMode IN Int
• 0: Emergency stop: If a request to disable the axis is pending, the
axis brakes at the configured emergency deceleration. The axis is
disabled after reaching standstill.
• 1: Immediate stop: If a request to disable the axis is pending, this
axis is disabled without deceleration. Pulse output is stopped
immediately.
• 2: Emergency st
op with jerk control: If a request to disable the axis is
pending, the axis brakes at the configured emergency stop
deceleration. If the jerk control is activated, the configured jerk is
taken into account. The axis is disabled after reaching standstill.