Example:
bRegulatorRealState=TRUE
bDriveStartRealState=TRUE
The status- and control-word are correct
The drive can be moved via MC_MoveVelocity
Question:
With all the existing Example outputs of the system setup, why does the MC_Power.Status output stay FALSE?
Answer:
The generic CiA 402 axis requires the following bits in the status word in order to be ready for motion:
- Bit 0 (ready to switch on)
- Bit 1 (switched on)
- Bit 2 (operation enabled)
- Bit 5 (quick stop)
- Bit 12 (first bit of operation mode specific)
Bit 12 is not always set by every drive and therefore can prevent the axis to report Axis.SMC3_AxisReadyForMotion()=TRUE.
This, in the end, will cause MC_Power.Status to stay FALSE.
Workaround
The generic Axis can be tweaked, so that Bit 12 is not needed in position mode:
Set _bCheckBit12InPositionMode of the generic drive to FALSE.
- With this setting, the axis will report Axis.SMC3_AxisReadyForMotion()=TRUE and therefore also MC_Power will work.