Difference between revisions of "MC-Basic:axis.SLAVEDISABLE"
m (Text replace - "''<expression>''" to "<''expression''>") |
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|DESCRIPTION= | |DESCRIPTION= | ||
| − | Once | + | <font color="red"> |
| + | Once <''axis''>.SlaveDisable is on, each time the axis is disabled (due to an error, or by direct assignment such as ”en=0”), all of its slave axes will be disabled. | ||
If the user directly enters: | If the user directly enters: | ||
| Line 22: | Line 23: | ||
* If the master is disabled because it is a part of the group that is being disabled (or some axes of it are). | * If the master is disabled because it is a part of the group that is being disabled (or some axes of it are). | ||
* If the master is disabled because being master of another axis having <axis>.SlaveDisconnect flag set to 0.(This is when this feature is on). | * If the master is disabled because being master of another axis having <axis>.SlaveDisconnect flag set to 0.(This is when this feature is on). | ||
| + | </font> | ||
| − | + | {{Note|Take special care to avoid loops. That is, if the master disables the slave and the slave disables the master, there must be a way to explicitly enable the master-slave pair.}} | |
| − | {{Note| | ||
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|LIMITATIONS= | |LIMITATIONS= | ||
| − | Cannot be changed during motion command execution. To set the value within a task, the axis must be attached to that task (using the ATTACH command). Values 1 | + | * Cannot be changed during motion command execution. |
| − | + | * To set the value within a task, the axis must be attached to that task (using the ATTACH command). | |
| − | + | * Values 1 and 2 (slave/cam) are valid for axes only, and values 3, 4 and 5 are valid for groups only. | |
| − | |||
| − | |||
Revision as of 10:54, 19 March 2014
Once <axis>.SlaveDisable is on, each time the axis is disabled (due to an error, or by direct assignment such as ”en=0”), all of its slave axes will be disabled.
If the user directly enters:
- master_axis.en = 0
- If the default error handler disables the axis
- If the axis is disabled by an automatic disable due to a position error on a stopped axis
- If the torque threshold is exceeded on a stopped axis.
- If the VOSPD is exceeded on a stopped axis
- If the master is disabled because it is a part of the group that is being disabled (or some axes of it are).
- If the master is disabled because being master of another axis having <axis>.SlaveDisconnect flag set to 0.(This is when this feature is on).
 | NOTE |
| Take special care to avoid loops. That is, if the master disables the slave and the slave disables the master, there must be a way to explicitly enable the master-slave pair. |
Syntax
<axis>.SlaveDisable = <expression>
?<axis>.SlaveDisable
Availability
From: 4.4.3
Type
Long
Range
0 to 1
Default
0
Scope
Configuration, Task or Terminal
Limitations
- Cannot be changed during motion command execution.
- To set the value within a task, the axis must be attached to that task (using the ATTACH command).
- Values 1 and 2 (slave/cam) are valid for axes only, and values 3, 4 and 5 are valid for groups only.
Examples
Xaxis.SlaveDisable = 1