MC-Basic:axis.SLAVEDISABLE

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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).


NOTE-Info.svgNOTE
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.

Syntax

<axis>.SlaveDisable = <expression>

?<axis>.SlaveDisable

Availability

From: 4.4.3

Type

Long

Range

0 to 1

Default

0

Scope

Configuration, Task or Terminal

Limitations

  • 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.

Examples

Xaxis.SlaveDisable = 1

See Also