Control Details - Mitsubishi Electric MELSEC iQ-R Series User Manual

Control details

Servo ON/OFF
The servo ON/OFF of the real axis connected to the motion system is controlled by MC_Power (operation possible) for single
axis and MCv_AllPower (all axes operation possible) for all axes.
For the driver status, refer to the following.
Page 77 Driver state transition
■MC_Power input/output and servo ON/OFF status
The servo ON/OFF status and the driver status of the selected axis can be switched as the follows by inputting Enable and
ServoON of MC_Power (operation possible).
Input variables
Enable
TRUE
FALSE
■Input/Output of MCv_AllPower and servo ON/OFF status
The servo ON/OFF status and the driver status of all real axes can be switched as follows by inputting Enable and ServoON
of MCv_AllPower.
Input variables
Enable
TRUE
FALSE
• If the real axis is rotated by external force during the servo OFF status, follow up processing is performed.
• The servo ON/OFF control can be operated regardless of the control mode. The control mode during the servo OFF status
depends on the specification of the driver.
• While the drive unit error occurs, since MC_Power/MCv_AllPower has been sent to the driver, Enable and ServoON are not
required to be turned from OFF to ON again.
To individually execute servo OFF when using MCv_AllPower, use MC_Power together. When MCv_AllPower
and MC_Power are used together, the MC_Power command is given priority.
2 AXIS MANAGEMENT FUNCTIONS
76
2.4 Servo ON/OFF
Output variables
ServoON ReadyStatus
ON ON
OFF ON
ON OFF
OFF OFF
ServoON
ON
OFF
ON
OFF
Servo ON/OFF
status
Status
ON Servo ON
OFF Servo OFF
OFF Servo OFF
OFF Servo OFF
Servo ON/OFF status
Servo ON
Servo OFF
Servo OFF
Servo OFF
Driver status
(AxisName.Md.Driv
er_State)
6: OperationEnable
5: SwitchedOn
3: SwitchOnDisabled
3: SwitchOnDisabled
Driver status
6: OperationEnable
5: SwitchedOn
3: SwitchOnDisabled
3: SwitchOnDisabled