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Once <axis>.SlaveDisable is on, each time the axis is disabled (due to an error, or by direct assignment such as ”en=0”), all of its slave axes will be disabled.
If the user directly enters:
- master_axis.en = 0
- If the default error handler disables the axis
- If the axis is disabled by an automatic disable due to a position error on a stopped axis
- If the torque threshold is exceeded on a stopped axis.
- If the VOSPD is exceeded on a stopped axis
- If the master is disabled because it is a part of the group that is being disabled (or some axes of it are).
- If the master is disabled because being master of another axis having <axis>.SlaveDisconnect flag set to 0.(This is when this feature is on).
|Take special care to avoid loops. That is, if the master disables the slave and the slave disables the master, there must be a way to explicitly enable the master-slave pair.|
<axis>.SlaveDisable = <expression>
0 to 1
Configuration, Task or Terminal
- Cannot be changed during motion command execution.
- To set the value within a task, the axis must be attached to that task (using the ATTACH command).
- Values 1 and 2 (slave/cam) are valid for axes only, and values 3, 4 and 5 are valid for groups only.
Xaxis.SlaveDisable = 1