Omron NY532-1500 Reference Manual page 6

Manual Structure
Page Structure
The following page structure is used in this manual.
Level-1 section heading
Level-2 section heading
Level-3 section heading
Special information
Icons indicate
precautions, additional
information, or reference
information.
4
3 Axis Command Instructions
MC_Power
The MC_Power instruction makes a Servo Drive ready to operate.
Instruction Name FB/FUN Graphic expression
MC_Power Power Servo FB
MC_Power_instance
MC_Power
Axis
Enable
Variables
Input Variables
Name Meaning Data type Valid range Default
Enable Enable BOOL TRUE or FALSE FALSE
Output Variables
Name Meaning Data type Valid range
Status Servo ON BOOL TRUE or FALSE TRUE when the device is ready for operation.
Busy Executing BOOL TRUE or FALSE TRUE when the instruction is acknowledged.
Error Error BOOL TRUE or FALSE TRUE while there is an error.
ErrorID Error Code WORD * Contains the error code when an error occurs.
A value of 16#0000 indicates normal execution.
* Refer to A-1 Error Codes.
Output Variable Update Timing
Name Timing for changing to TRUE
Status When the specified axis becomes
ready for operation.
Busy When Enable changes to TRUE.
Error When there is an error in the execution
conditions or input parameters for the
instruction.
3-2 NJ-series Motion Control Instructions Reference Manual (W508)
In-Out Variables
Name Meaning Data type Valid range
Axis Axis _sAXIS_REF ---
Specify the axis.
* Specify an Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio. (The default axis variable names
are MC_Axis***.)
Function
• When Enable changes to TRUE, the axis specified by Axis is made ready to operate.
You can control the axis when it is ready to operate.
• When Enable changes to FALSE, the ready status is cleared for the axis specified by Axis.
You cannot control the axis after the ready status is cleared because it will not acknowledge opera-
tion commands. Also, an error occurs if a motion command is executed for an axis for which the
ready status is cleared. You can execute the MC_Power (Power Servo) and MC_Reset (Reset Axis
Error) instructions even for axes that are not ready.
• You can use this instruction to disable the operation of axes while they are in motion. In this case,
CommandAborted will change to TRUE. Output of the operation command will stop and the axis will
not longer be ready for operation.
• If home is not defined for a Servomotor with an absolute encoder, compensation is performed using
the absolute encoder home offset to define home when the axis is ready to operate.
For details on the absolute encoder home offset, refer to the NJ-series CPU Unit Motion Control
User's Manual (Cat. No. W507).
Precautions for Correct Use Precautions for Correct Use
• You can use this instruction for servo axes and virtual servo axes. If the instruction is used for
encoder axes or virtual encoder axes, an error will occur.
• Executing this Instruction for the Master Axis of Synchronized Control
When master axis operation is disabled for a vertical axis, the position of the master axis may
change rapidly. This may cause the motion of t he slave axis to change rapidly. Take suitable
measures to prevent the slave axis from moving rapidly, such as applying a brake to the mas-
ter axis or leaving master axis operation enabled until after synchronized control is completed.
Timing Charts
• When Enable changes to TRUE, Busy (Executing) changes to TRUE to indicate that the instruction
was acknowledged.
• After the axis becomes ready for operation, Status (Servo ON) changes to TRUE.
• When Enable changes to FALSE, Busy (Executing) changes to FALSE. Status (Servo ON) changes
to FALSE when ready status is cleared. Status (Servo ON) outputs the axis ready status regardless
of whether Enable is TRUE or FALSE.
Enable
Status
Busy
The specified axis becomes Ready status is cleared for the
ready for operation. specified axis.
NJ-series Motion Control Instructions Reference Manual (W508)
Note: This page is for illustration only. It does not represent a specific page in this manual.
NY-series Motion Control Instructions Reference Manual (W561)
ST expression
MC_Power_instance (
Axis :=parameter,
Enable :=parameter,
Axis
Status =>parameter,
Status
Busy =>parameter,
Busy
Error =>parameter,
Error
ErrorID =>parameter
ErrorID
);
Description
The device is ready for operation when
Enable is TRUE, and not ready when it is
FALSE.
Description
Timing for changing to FALSE
• When operation ready status for the
specified axis is cleared.
• When Error changes to TRUE.
• When Enable changes to FALSE.
• When Error changes to TRUE.
When the error is cleared.
Manual name
3 Axis Command Instructions
Description
*
3
3-3
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