SERCOS drives

The following enable and state signals are supported on SERCOS drives.

• MCControlBoolUnit_DriveOn:
  Enable power connection in the drive (abbr.: DriveOn). This enable signal is entered directly in Bit 15 of the SERCOS control word.
• MCControlBoolUnit_TorquePermission:
  Activate drive-internal position or speed controller. The drive goes to control (abbr.: TorquePermission).
• MCControlBoolUnit_ReleaseFeedhold:
  Reset drive-internal feedhold (abbr: ReleaseFeedhold).
• ready_for_power_on_r (for CNC versions as of V2.11.2800)
  or X_ReadyPowerOn (for CNC versions up to V2.11.20xx):
  The drive is ready for power connection
• ready_for_control_loop_on_r (for CNC versions as of V2.11.2800)
  or X_ReadyControlLoopOn (for CNC versions up to V2.11.20xx):
  The drive is ready to go to control. Once the corresponding drive enables are set, the drive obeys the positions specified by the NC kernel.