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3 Axis Command Instructions
3-2 NJ-series Motion Control Instructions Reference Manual (W508)
MC_Power
The MC_Power instruction makes a Servo Drive ready to operate.
*RefertoA-1 Error Codes.
Output Variable Update Timing
Instruction Name FB/FUN Graphic expression ST expression
MC_Power Power Servo FB MC_Power_instance (
Axis :=parameter,
Enable :=parameter,
Status =>parameter,
Busy =>parameter,
Error =>parameter,
ErrorID =>parameter
);
Variables
Input Variables
Name Meaning Data type Valid range Default Description
Enable Enable BOOL TRUE or FALSE FALSE The device is ready for operation when
Enable is TRUE, and not ready when it is
FAL S E.
Output Variables
Name Meaning Data type Valid ra ng e Description
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.
Name Timing for changing to TRUE Timing for changing to FALSE
Status When the specified axis becomes
ready for operation.
•When operation ready status for the
specified axis is cleared.
•When Error changes to TRUE.
Busy When Enable changes to TRUE. •When Enable changes to FALSE.
•When Error changes to TRUE.
Error When there is an error in the execution
conditions or input parameters for the
instruction.
When the error is cleared.
MC_Power_instance
Error
Axis Axis
Enable Status
Busy
MC_Power
ErrorID
3-3
3 Axis Command Instructions
NJ-series Motion Control Instructions Reference Manual (W508)
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3
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* Specify an Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio. (The default axis variable names
are MC_Axis***.)
•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 UsePrecautions 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 the 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.
•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.
In-Out Variables
Name Meaning Data type Valid range Description
Axis Axis _sAXIS_REF --- Specify the axis.*
Function
Timing Charts
Enable
Status
Busy
The specified axis becomes
ready for operation.
Ready status is cleared for the
specified axis.
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