Difference between revisions of "AXY:MC-Basic:group.RESCUEMODE"
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|DESCRIPTION= | |DESCRIPTION= | ||
| − | RESCUEMODE is a special mode of the system that enable recovery after emergency stop. Setting this mode to | + | RESCUEMODE is a special mode of the system that enable recovery after emergency stop. Setting this mode to '''1''' causes saving the current motion package and the pending one after entering following mode. Motion can be recovered using '''proceed''' command. The stored motion packages can be ignored by the '''proceed proceedtype = clear''' command. There are additional sequences that can be recovered using this flag: |
| − | + | * Entering following mode due to position error or velocity over speed error. | |
| − | + | * Disabling the system using EN property. | |
| − | + | * External disable of the system especialy important in case of emergency stop | |
Actually, in many ways, this command is equivalent to a STOP command issued from an attached task. It stores both movement packages, but does not block the program. | Actually, in many ways, this command is equivalent to a STOP command issued from an attached task. It stores both movement packages, but does not block the program. | ||
| − | + | All movement property points (DEST, START, etc.) are affected by it. If a movement is rescued, DEST and START are re-initialized to the current position values. | |
| − | |||
| − | |||
| − | All movement property points (DEST, START, etc.) are affected by it. If a movement is rescued, DEST and START are re- | ||
| Line 58: | Line 55: | ||
* [[Axystems:MC-Basic:group.DEST|group.DEST]] | * [[Axystems:MC-Basic:group.DEST|group.DEST]] | ||
* [[Axystems:MC-Basic:group.DESTCENTER|group.DESTCENTER]] | * [[Axystems:MC-Basic:group.DESTCENTER|group.DESTCENTER]] | ||
| + | * [[Axystems:MC-Basic:PROCEED]] | ||
}} | }} | ||
Revision as of 11:23, 22 December 2010
RESCUEMODE is a special mode of the system that enable recovery after emergency stop. Setting this mode to 1 causes saving the current motion package and the pending one after entering following mode. Motion can be recovered using proceed command. The stored motion packages can be ignored by the proceed proceedtype = clear command. There are additional sequences that can be recovered using this flag:
- Entering following mode due to position error or velocity over speed error.
- Disabling the system using EN property.
- External disable of the system especialy important in case of emergency stop
Actually, in many ways, this command is equivalent to a STOP command issued from an attached task. It stores both movement packages, but does not block the program.
All movement property points (DEST, START, etc.) are affected by it. If a movement is rescued, DEST and START are re-initialized to the current position values.
Short form
RMode
Syntax
<GROUP>.RMode = <value>
?<GROUP>.RMode
Availability
Versions 3.6.20 and higher
Type
Long
Range
0 (OFF)
1 (ON)
Default
0 (OFF)
Scope
R/W, , Task, Terminal
Limitations
Modal Only
Examples
G1.rmode=0
?G1.rmode