MC-Basic:axis.TORQUEERRORSTOPTYPE
Defines the torque-error collision procedure. If the TE > TEMAX stopping of the axis is done according to:
1 (IMMEDIATE): Using maximum deceleration.
2 (ONPATH): Using maximum deceleration, on the path of the motion. For a single axis, the IMMEDIATE and ONPATH stop types are the same.
3 (ENDMOTION): No Stop profile immediately disabling the axis.
4 (ABORT): Same as ONPATH.
5 (DecStopOnPath ) - the stopping profile uses the DecStop value.
In cases of TorqueErrorStopType IMMEDIATE(1), ONPATH(2), ABORT(4) and DecStopOnPath(5) axis is disabled only if the condition TE > TEMAX is true also after the end of stopping profile.
In case of TorqueErrorStopType equals ENDOFMOTION(3) axis is disabled always and immediately when the condition TE > TEMAX is detected.
In both cases disable is done according values of TorqueErrorDisableType.
Short form
<axis>.TorqueErrorStopType
Syntax
?<axis>. TorqueErrorStopType
Availability
AMCS 4.5.x
Type
Integer
Range
0 to 5
Default
3 (ENDMOTION)
Scope
Configuration, Task or Terminal
Limitations
Read/Write only, Modal Only
Examples
?A1.TorqueErrroStopType