AXY:MC-Basic:axis.RESCUEMODE

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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.

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

See Also

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