AXIS#.DISMODE

Description

AXIS#.DISMODE sets the axis reaction to a software disable command (AXIS#.DIS from the terminal, or fieldbus command). The table below describes the values supplied as command argument.


    • You must disable the axis before you set AXIS#.DISMODE.
    • If AXIS#.CMDSOURCE = GANTRY (4), then the axis will maintain its own value for AXIS#.DISMODE, but the mode used will be the same as the GANTRY Master (Axis 1).

Value Behavior

0

Disable axis immediately. If AXIS#.MOTOR.BRAKEIMM = 1, the brake is applied as soon as the power stage disables.

1

Use the dynamic brake to ramp down. The axis remains in the dynamic brake state after the motor has stopped. The axis is disabled in the sense that it does not close the control loop and cannot perform motion, but PWM stays active.

2

Use a controlled stop to ramp down and then disable the axis.

3

Use a controlled stop to ramp down, and then use dynamic brake. The axis remains in the dynamic brake state after the motor has stopped. The axis is disabled in the sense that it does not close the control loop and cannot perform motion, but PWM stays active.

  • Use caution with vertical loads when modifying this parameter. Coordinate this parameter's correct setting properly with the axis brake settings. If these settings are not coordinated, then vertical loads may have no stopping or holding force when the axis is disabled and the load could fall.

If AXIS#.CMDSOURCE = GANTRY (4), then the axis will maintain its own value for AXIS#.DISMODE, but the mode used will be the same as the GANTRY Master (Axis 1)

Example

Code

Sets Axis 2 to use a Controlled Stop before disabling:

--> AXIS2.DISMODE 2

Reads what disable mode Axis 2 is set to:

--> AXIS2.DISMODE
2

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read/Write

Units

N/A

Range

0 to 3

Default Value

2

Data Type

Integer
See Also

AXIS#.DBILIMIT | AXIS#.DISTO | AXIS#.ZEROV

Stored in Non-Volatile Memory

Yes

Variants Supported

All variants are supported.

Fieldbus Information

EtherCAT CoE and CANopen

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDO Mappable

AXIS1.DISMODE

5000h

06h

Unsigned8

-

-

Read/Write

No

AXIS2.DISMODE

5100h

06h

Unsigned8

-

-

Read/Write

No
EtherNet/IP

ID

Instance

Attribute

Name

Data Type

Access

User Mappable

5008

1

5008 (0x1390)

AXIS1.DISMODE

Unsigned8

Read/Write

Yes

70544

2

5008 (0x1390)

AXIS2.DISMODE

Unsigned8

Read/Write

Yes
PROFINET

Parameter

PNU

Data Type

Access

Units

AXIS#.DISMODE

5008

Unsigned8

Read/Write

-