AXY:MC-Basic:group.RESCUEMODE
RESCUEMODE is a special mode of the system that enable recovery after emergency stop. Setting this mode to on produce saving the current motion package and the pending one after inserting into following mode. Motion recovery can be done assistace proceed continue command. The stored motion packages can be ignored by the proceed clear all command. Until another stop occurs (emergency stop or stop command) the packages are internal stored. There are additional sequences that can be recovery 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-intialize to the current position as the start point and the original target is not affected.
Short form
RMode
Syntax
<GROUP>.RMode = <value>
?<GROUP>.RMode
Availability
Versions 3.6.20 and higher
Type
Long
Range
0 (OFF)
1 (ON)
Default
0 (OFF)
Scope
R/W, , Task, Terminal
Limitations
Modal Only
Examples
G1.rmode=0
?G1.rmode