Servo On/Off; Relevant Variables/Fb - Mitsubishi Electric MELSEC iQ-R Series User Manual

2.4

Servo ON/OFF

Relevant variables/FB

This function executes servo ON/OFF of the real axis connected to the motion system.
The servo ON enables the operation of the real axis.
Variable/Structure name
AxisName.Md.
Driver_ReadyOn
Driver_ServoOn
MC_Power
Item
Function overview
Symbol
[Structured Ladder]
Applicable hardware and
software (Language)
Number of input area points
(byte)
10
■Function description
This FB initializes the information of a selected axis and switches the axis status to the operation possible status.
While Enable and the ServoON input are TRUE, the selected axis is switched to the operation possible status.
Busy turns TRUE when the processing is started.
Status turns TRUE when the drive unit has been switched to the operation possible status.
When an error has occurred in the FB, this FB turns Error to TRUE and stores an error code in ErrorID.
For details of error codes, refer to the following.
Page 534 List of Error Codes
The axis status (AxisName.Md.AxisStatus) of the AXIS_MONI structure transits from "0: Disabled" to "4: Standstill".
For the axis status (AxisName.Md.AxisStatus), refer to the following.
Page 35 State transition
■Restrictions
Before executing this FB, set the axis No. (AxisNo) of the AXIS_REF structure.
2 AXIS MANAGEMENT FUNCTIONS
72
2.4 Servo ON/OFF
Name
Driver ready ON status
Driver servo ON status
Description
Switches a specified axis to the operation possible status.
DUT : Axis
B : Enable
B : ServoON
RD78G(H) (Structured Text)
Number of output area points
(byte)
6
Details
Sets TRUE when the connected driver status (AxisName.Md.Driver_State)
is as follows.
5: SwitchedOn
6: OperationEnable
7: QuickStopActive
Sets TRUE when the connected driver status (AxisName.Md.Driver_State)
is as follows.
6: OperationEnable
7: Quick StopActive
MC_Power
Axis : DUT
Status : B
ReadyStatus : B
Busy : B
Error : B
ErrorID : UW
Compiling method
Subroutine type
FB operation type
Real-time execution