Driver state transition
The connected driver device as an axis performs operation according to the state transition defined by the CiA402 drive
profile shown below. The motion system determines whether the driver is being servo ON or OFF status based on the current
The current driver status can be monitored by AxisName.Md.Driver_State.
For details of operation in each status, refer to the connected driver manuals.
• When MC_Power calls the instruction first after switching to the PLC READY [Y0]ON, the axis information is determined.
Even if the axis information is changed while Enable is FALSE, the change is not reflected.
• Do not set two or more FBs of MC_Power for one axis. The operation is not guaranteed if those are set.
• If MC_Power is executed to the virtual axis, both Status and ReadyStatus are turned ON regardless of the ServoON input.
2 AXIS MANAGEMENT FUNCTIONS
2.4 Servo ON/OFF