Siemens SIMATIC S7 System Manual page 348

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102BTechnology instructions

9.3 Basic motion control

An axis is enabled and then disabled again. After the drive has signaled "Drive ready" back to the CPU, the

successful enable can be read out via "Status_1".

Following an axis enable, an error has occurred that caused the axis to be disabled. The error is eliminated and

acknowledged with "MC_Reset". The axis is then enabled again.

To enable an axis with configured drive interface, follow these steps:

1. Check the requirements indicated above.

2. Initialize input parameter "StopMode" with the desired value. Set input parameter

To enable an axis without configured drive interface, follow these steps:

1. Check the requirements indicated above.

2. Initialize input parameter "StopMode" with the desired value. Set input parameter

To disable an axis, follow these steps:

1. Bring the axis to a standstill.

2. Set input parameter "Enable" to FALSE after standstill is reached.

3. If output parameters "Busy" and "Status" and technology object tag <Axis

"Enable" to TRUE.

The enable output for "Drive enabled" changes to TRUE to enable the power to the drive.

The CPU waits for the "Drive ready" signal of the drive.

When the "Drive ready" signal is available at the configured ready input of the CPU, the

axis becomes enabled. Output parameter "Status" and technology object tag <Axis

name>.StatusBits.Enable indicates the value TRUE.

"Enable" to TRUE. The axis is enabled. Output parameter "Status" and technology object

tag <Axis name>.StatusBits.Enable indicate the value TRUE.

You can identify when the axis is at a standstill in technology object tag <Axis

name>.StatusBits.StandStill.

name>.StatusBits.Enable indicate the value FALSE, disabling of the axis is complete.

S7-1200 Programmable controller

System Manual, 11/2011, A5E02486680-05

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