Technology instructions
10.3 Motion control
S7-1200 Programmable controller
734 System Manual, V4.2, 09/2016, A5E02486680-AK
Table 10- 56 Parameters for the MC_Power instruction
Enable IN Bool
• FALSE (default): All active tasks are aborted according to the pa-
rameterized "StopMode" and the axis is stopped.
• TRUE: Motion control attempts to enable the axis.
StartMode IN Int
• 0: Speed controlled
Note: The StartMode parameter is only evaluated during edge detec-
tion (false to true).
• 1: Position controlled (default)
StopMode IN Int
• 0: Emergency stop: If a request to disable the axis is pending, the
axis brakes at the configured emergency deceleration. The axis is
disabled after reaching standstill.
• 1: Immediate stop: If a request to disable the axis is pending, this
axis is disabled without deceleration. Pulse output is stopped imme-
diately.
•
2: Emergency stop with jerk control: If a request to disable the axis is
pending, the axis brakes at the configured emergency stop decelera-
tion. If the jerk control is activated, the configured jerk is taken into
account. The axis is disabled after reaching standstill.
Status OUT Bool Status of axis enable:
• FALSE: The axis is disabled:
– The axis does not execute motion control tasks and does not ac-
cept any new tasks (exception: MC_Reset task).
– The axis is not homed.
– Upon disabling, the status does not change to FALSE until the
axis reaches a standstill.
• TRUE: The axis is enabled:
– The axis is ready to execute motion control tasks.
– Upon axis enabling, the status does not change to TRUE until
the signal "Drive ready" is pending. If the "Drive ready" drive in-
terface was not configured in the axis configuration, the status
changes to TRUE immediately.
Busy OUT Bool FALSE: MC_Power is not active.
TRUE: MC_Power is active.
Error OUT Bool FALSE: No error
TRUE: An error has occurred in motion control instruction "MC_Power"
or in the associated technology object. The cause of the error can be
found in parameters "ErrorID" and "ErrorInfo".
Error ID for parameter "Error""
Error info ID for parameter "ErrorID"
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