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.

  To get the list of device parameters displayed (in the 'device editors' of 'parameterizable devices', like for the generic CIA402 device), set the 'Show generic device configuration views' option in the Dialog for 'Options: Device editor':

• With this setting, the axis will report Axis.SMC3_AxisReadyForMotion()=TRUE and therefore also MC_Power will work.