Difference between revisions of "MC-Basic:axis.SLAVEDISABLE"
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|DESCRIPTION= | |DESCRIPTION= | ||
| − | Once the | + | Once the <axis>.SlaveDisable is on, each time the axis is disabled (due to an error, or by direct assignment i.e., ”en=0”) '''all''' of it's slave axes will be disabled. |
| + | |||
| + | If the user directly enters: | ||
| + | * master_axis.en = 0 | ||
| + | * If the default error handler disables the axis | ||
| + | * It 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|Special care must be taken to avoid loops i.e. if the master disables the slave and the slave disables the master there must be a way that explicit enabling of master-slave pair succeeds.}} | ||
| − | |||
|TYPE= | |TYPE= | ||
Revision as of 13:12, 26 January 2011
Once the <axis>.SlaveDisable is on, each time the axis is disabled (due to an error, or by direct assignment i.e., ”en=0”) all of it's slave axes will be disabled.
If the user directly enters:
- master_axis.en = 0
- If the default error handler disables the axis
- It 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 |
| Special care must be taken to avoid loops i.e. if the master disables the slave and the slave disables the master there must be a way that explicit enabling of master-slave pair succeeds. |
Syntax
<axis>.SlaveDisable = <expression>
?<axis>.SlaveDisable
Availability
4.3.x
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 & 2 (slave/cam) are valid for axes only and value 3/4/5 is valid for groups only.
Examples
Xaxis.SlaveDisable = 1