MC-Basic:axis.TORQUEERRORSTOPTYPE

Defines the torque-error collision procedure. If the TE > TEMAX stopping of the axis is done according to:

1 (IMMEDIATE): Using maximum deceleration.

2 (ONPATH): Using maximum deceleration, on the path of the motion. For a single axis, the IMMEDIATE and ONPATH stop types are the same.

3 (ENDMOTION): No Stop profile immediately disabling the axis.

4 (ABORT): Same as ONPATH.

5 (DecStopOnPath ) - the stopping profile uses the DecStop value.

In cases of TorqueErrorStopType IMMEDIATE(1), ONPATH(2), ABORT(4) and DecStopOnPath(5) axis is disabled only if the condition  TE > TEMAX is true also after the end of stopping profile.

In case of TorqueErrorStopType equals ENDOFMOTION(3) axis is disabled always and immediately when the condition TE > TEMAX is detected.

In both cases disable is done according values of TorqueErrorDisableType.

Short form

<axis>.TorqueErrorStopType

Syntax

?<axis>. TorqueErrorStopType

Availability

AMCS 4.5.x

Type

Integer

Range

0 to 5

Default

3 (ENDMOTION)

Scope

Configuration, Task or Terminal

Limitations

Read/Write only, Modal Only

Examples

?A1.TorqueErrroStopType

See Also

• axis.TORQUEERRORDISABLETYPE
• axis.TORQUEFEEDBACK
• axis.TORQUEFACTOR
• axis.TORQUEADDCOMMAND
• axis.TORQUEMAX
• axis.TORQUEERRORFILTER
• axis.TORQUEERRORMAX
• axis.TORQUEERROR