Position Limit Parameter: EnableMode

Description

This parameter sets the axis activation mode: CURRENT VALUE or SETPOINT.

The default mode is ACTUAL mode and is the highly recommended mode.

WARNING

UNEXPECTED APPLICATION BEHAVIOR - ENABLEMODE BEHAVIOR

You should set the COMMANDED enable mode only after reading the enable mode description and clearly understanding that if the axis moves less than the EnablePositionBand while disabled, the axis will "snap" back to the last setpoint position prior to disabling. Adequate safeguards, such as axis brakes with no manual brake release and small, enabled following error limits, should be used to prevent undesirable motion while enabling.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

Associated Functions

The associated functions of this parameter are:

GetEnableMode which sends a read request for the actual activation mode of the designated axis,
SetEnableMode which sends a write request for the new activation mode of the designated axis.

These functions use the WRITE_CMD instruction.

Associated Language Objects

The table below presents the different language objects linked to the EnableMode parameter.

Object	Name	Function code	Description
%MWr.m.c.26	ACTION_CMD	1524	Read command
%MWr.m.c.26	ACTION_CMD	2524	Write command
%MDr.m.c.20	RETURN_CMD_1	-	Result of the read.
%MDr.m.c.27	PARAM_CMD_1	-	Value to write: Activation mode. 0 : Measurement 1 : Setpoint
%MWr.m.c.19	ERROR_CMD	-	Error report. See (WRITE_CMD Command: Programming Errors)