Siemens SIMOTION Function Manual page 88

Activating and deactivating components and technology objects
5.5 Procedure for deactivating and activating components
3. Activate the assigned technology objects individually:
4. Set the required enables for these technology objects with the specific system function for
5. If required, home the axis with the _homing system function.
6. Start further motion commands.
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– Observe the correct sequence if technology objects are dependent on one another: First
activate the base technology object (e.g. axis) before activating the dependent
technology objects (e.g. measuring inputs, output cams, synchronous objects).
– Start the activation process with the system function _activateTo (Page 79).
– Only up to version V4.0 of the SIMOTION kernel:
After error-free completion of the _activateTo system function, keep calling the
_getStateOfTo (Page 85) system function until the commandIdState component of the
return value (data type EnumStateOfTo) has the value ACTIVE.
the technology object in question, e.g. _enableAxis.
Basic Functions for Modular Machines
Function Manual, 04/2014