Difference between revisions of "AXY:MC-Basic:axis.RESCUEMODE"
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|DESCRIPTION= | |DESCRIPTION= | ||
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| + | RESCUEMODE is a special system mode that enables recovery after an emergency stop. Setting this mode to '''1''' saves 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. Additional sequences can be recovered using this flag: | ||
* Entering following mode due to position error or velocity over speed error. | * Entering following mode due to position error or velocity over speed error. | ||
| − | |||
* Disabling the system using EN property. | * Disabling the system using EN property. | ||
| + | * External disable of the system, especially important in case of an emergency stop. | ||
| − | + | 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. | |
| − | + | </font> | |
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|RANGE= | |RANGE= | ||
0 (OFF)<br> | 0 (OFF)<br> | ||
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1 (ON) | 1 (ON) | ||
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|SCOPE= | |SCOPE= | ||
| − | + | Task, Terminal | |
|LIMITATIONS= | |LIMITATIONS= | ||
| − | Modal | + | Modal only |
|EXAMPLE= | |EXAMPLE= | ||
Revision as of 10:30, 19 March 2014
RESCUEMODE is a special system mode that enables recovery after an emergency stop. Setting this mode to 1 saves 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. Additional sequences 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, especially important in case of an emergency stop.
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.
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