In cases of closed-chain kinematics the initial joint position values (before homing) could besuch that the direct kinematics (DK)transformation always returns error. This could lead to a situation that certain model parameters (e.g. Link , etc.) can not be set as the robot can not be attached because the attachment it self initiates DK calling and this again returns an asynchronouserror. This property helps switching off model computation of DK & IK.
ModelEnable = <on/off>
Configuration ,Task or Terminal
Puma.ModelEnable = 0