User Manual

Motion control is easy
10.5 Motion control instructions
Easy Book
Manual, 03/2014, A5E02486774-AF
219
Parameter and type
Data type
Description
Status OUT Bool Status of axis enable:
• FALSE: The axis is disabled:
– The axis does not execute motion control tasks and does not
accept any new tasks (exception: MC_Reset task).
– The axis is not homed.
– Upon disabling, the status does not change to FALSE until the
axis reaches a standstill.
• TRUE: The axis is enabled:
– The axis is ready to execute motion control tasks.
– Upon axis enabling, the status does not change to TRUE until
the signal "Drive ready" is pending. If the "Drive ready" drive
interface was not configured in the axis configuration, the status
changes to TRUE immediately.
Busy OUT Bool FALSE: MC_Power is not active.
TRUE: MC_Power is active.
Error OUT Bool FALSE: No error
TRUE: An error has occurred in motion control instruction "MC_Power"
or in the associated technology object. The cause of the error can be
found in parameters "ErrorID" and "ErrorInfo".
ErrorID
OUT
Word
Error ID for parameter "Error""
ErrorInfo
OUT
Word
Error info ID for parameter "ErrorID"
①
An axis is enabled and then disabled again. After the drive has signaled "Drive ready" back to the CPU, the
successful enable can be read out via "Status_1".
②
Following an axis enable, an error has occurred that caused the axis to be disabled. The error is eliminated and
acknowledged with "MC_Reset". The axis is then enabled again.