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.

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.

  • Be careful 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.

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

FieldbusClosedA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design Parameter Index Sub-Index Data Type Float Scale Units Access PDOClosedPDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. Mappable
EtherCATClosed***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs COE and CANopen AXIS1.DISMODE 5000h 6h Unsigned8 - - RW False
AXIS2.DISMODE 5100h 6h Unsigned8 - - RW False