MC-Basic:element.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.
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
<element>.RMode
Syntax
<element>.RMode = <value>
?<element>.RMode
Availability
Since Version 3.6.20
Type
Long
Range
0 (OFF)
1 (ON)
Default
0 (OFF)
Scope
Read/Write, , Task, Terminal
Limitations
Modal Only
Examples
Axis
A1.rmode = 0
?A1.rmode
Group
G1.rmode=0
?G1'.rmode