Motion control instructions Chapter 17
Rockwell Automation Publication 2080-RM001D-EN-E - February 2015 473
MC_Power controls the power stage (ON or OFF).
MC_Power operation
• After axis power On completes, the axis Homed status is reset to 0 (not
homed).
• The Enable_Positive input and the Enable_Negative input of the
MC_Power function block are both level triggered; they are checked when
the Enable input changes from OFF to ON. The on-the-fly change for the
Enable_Positive input and the Enable_Negative input without Enable
input toggling is not checked.
• If power fails during operation (when Servo ready has been detected) the
axis state goes to ErrorStop.
• If the MC_Power function block with Enable set to True is called while the
axis state is Disabled, the axis state goes to StandStill if there is not an error,
or the axis state goes to ErrorStop if there is an error.
• Only one MC_Power function block should be issued per axis. Using a
different MC_ Power function block to control the same axis
simultaneously will be rejected by the Motion Engine.
• When there is a Power On/Off state switch for an axis, the absolute axis
position is not reset.
• If the MC_Power function block with Enable set to False is called, the axis
state goes to Disabled for every state including ErrorStop. The MC_Power
function block can do the following:
• Power on the axis if Enable is set to True; Power off the axis if Enable is set
to False.
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