AXY:MC-Basic:axis.RESCUEMODE

RESCUEMODE is a system mode that enables recovery of interrupted motion after emergency stop :

�        Entering following mode due to position error or velocity over speed error.

�        Disabling the system using “EN=0”..

�        External disable of the system (hardware disable ) especialy important in case of emergency stop.

Setting this mode to ON causes the current motion package and the pending one to be saved in tose cases. The interrupted motion can be recovered using proceed command. The proceed command can be used with same values of proceedtype property as in case of regular stop.

Actually, in many ways, this command is causes same behavour on certain errors  as STOP command issued from an attached task. It stores both movement (current & pending) packages, but does not block the program.

Short form

<axis>.RMode

Syntax

<axis>.RMode = <value>

?<axis>.RMode

Availability

Versions 3.6.20 and higher

Type

Long

Range

0 (OFF)

1 (ON)

Default

0 (OFF)

Scope

, Task, Terminal

Limitations

Modal Only

Examples

A1.rmode=0

See Also

• group.DESTgroup.DESTANGLEgroup.DESTCENTER