1. After a virtual or real axis has been created and linked to a PLC variable, it can be jogged after some additions to the programs. To start, an instance of function block MC_Power must be declared. This is contained within the Tc2_MC2 library.

Its purpose is to enable the axis for motion. A variable of type Axis_Ref is needed for the Axis argument so that MC_Power knows which axis to control. Setting Enable to TRUE will allow the drive to operate. Then either Enable_Positive, Enable_Negative, or both must be TRUE to jog the axis in that respective direction.

Override sets the speed of the axis as a percentage of the configured Manual Velocity parameters.

2. Declare an instance of MC_Power within a POU. In the example below, it is declared within Main.

3. Now the object fbMC_Power1 can be added to the program implementation. It can be manually typed out, but a faster way is to press the F2 key. This will open the Input Assistant as shown below. Select the desired instance and ensure 'Insert with arguments' is checked.

4. The function block fbMC_Power1 will be automatically added into the program along with its inputs and outputs. The axis name, enables, and override can now be written as shown below.

5. Now that the program is complete, login and download the project.

6. Once the download is finished, note that the Login status has changed and the program now displays the contents of the variables. If the MC_Power input statuses did not update as shown below, ensure that the PLC is in run.

7. Under the NC-Task, the Axis status can be viewed by double-clicking on the Axis name and selecting the 'Online' tab. Override, drive ready, and enabling statuses are all displayed here. A checkmark denotes that the axis bit is enabled. If an enabling bit is set to FALSE on the MC_Power function block, the respective checkbox in the Enabling section will be empty as they are linked together. Likewise, Override is tied to the override input of MC_Power.

8. The bottom of the online tab has several function keys that can be used to control the axis. The four yellow buttons are for jogging the axis positive and negative. When pressed and held, F1 and F4 move the axis at the rate within parameter 'Manual Velocity (Fast)' while F2 and F3 are governed by parameter 'Manual Velocity (Slow)'. The velocity will be the percentage of these parameters based on the input Override.

The values can be viewed by pressing the 'Parameter' tab and opening the section titled 'Manual Motion and Homing'.

9. Alternatively, a target position and velocity can be selected to move the axis. Press the green F5 button to command the axis at the target velocity until the target position is reached. To stop the axis, press F6.

10. Note that the target velocity cannot exceed the value loaded within parameter 'Maximum Velocity' under the Parameter tab. If the Maximum Velocity is exceed, an error will be generated and the axis will not move.

11. Finally, if there are any faults on the axis, they can be reset by pressing F8.