AXY:MC-Basic:axis.RESCUEMODE
RESCUEMODE is a system mode that enables recovery of interrupted motion after emergency stop :
� Entering following mode due to position error or velocity over speed error.
� Disabling the system using “EN=0”..
� External disable of the system (hardware disable ) especialy important in case of emergency stop.
Setting this mode to ON causes the current motion package and the pending one to be saved in tose cases. The interrupted motion can be recovered using proceed command. The proceed command can be used with same values of proceedtype property as in case of regular stop.
Actually, in many ways, this command is causes same behavour on certain errors as STOP command issued from an attached task. It stores both movement (current & pending) 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