Procedure For "Switching Drives On And Off" - HEIDENHAIN iTNC 530 HSCI Technical Manual

July 2013
Note
If drive enabling (MP4132, -ES.B) is missing, the error message 8B40 No

drive release <axis> appears.
If you do not want to use drive enabling for axis groups, but rather just

global drive enabling through -ES.B, set all bits in MP2040.x to
%000000000000000000000000000000 and in W524 to zero.
The iTNC monitors the time between the switch-on of the drive controller

(via Module 9161) and the READY signal of the power module (via the
PWM cables). If the READY signal is missing after the waiting time has
passed, the error message 8B40 No drive release <axis> appears. In
MP2170 you preset the permissible waiting time.
If the readiness signal is reset at the PWM outputs, the drive controllers

(current and speed controllers) are switched off. Normally, the error
message MOVEMENT MONITORING IN <AXIS> B is output through the
position control loop. Subsequently, the PWM signal release is switched
off by the reset signal.
The current controller is switched on within 50 ms of switching on the

controller (Module 9161). This also delays the acknowledgment over
Module 9162 at below 50 ms. The delay time depends on MP2221.x bit
7.
If a vertical or rotary axis is switched on, the current that was active at the

time of switch-off is used. This is to prevent the axis from sagging when
the brake is released, even if the feedforward control for the axis is not
optimally set.
6.8 The control loop
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