Delta AX-3 Series, Руководство по эксплуатации

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A X - 3 S e r i e s O p e r a t i o n M a n u a l
7 - 1 3 4
_7
7.8.2.1 Servo On
Execute MC_Power (Servo on) instruction to activate the servo driver after the EtherCAT communication is built in
the following example with LD and ST programming languages supported.

Main variables used in programming
Variable Data Type Default Note
SM_Drive_Virtual AXIS_REF_SM3 - Virtual axis variable
Start BOOL FALSE
Shift to True when start the server and enable
Servo On

LD language
Check for the successful EtherCAT communication when Start is True so as to enable MC_Power via ServoOn
output, which the status should be True.

ST language
Check for the successful EtherCAT communication when Start is True so as to enable MC_Power via ServoOn
output, which the status should be True.
Monitoring window can also be used to observe the variable output status with no need for naming the output
variables.
IF Start THEN
ServoOn :=TRUE;
ELSE
ServoOn :=FALSE;
END_IF
//MC_Power
MC_Power_0(
Axis:= SM_Drive_Virtual,
Enable:= ServoOn,
bRegulatorOn:= TRUE,
bDriveStart:= TRUE,
Status=> ,
bRegulatorRealState=> ,
bDriveStartRealState=> ,
Busy=> ,
Error=> ,
ErrorID=> );