Command: Enable Controller (7)

Supported Axes:

All

See the Commands Overview topic for basic command information and how to issue commands from PLCs, HMIs, etc.

Command Parameters

None.

Description

This command enables all the axes on the RMC. It is typically used after starting up the RMC. No motion commands, other than the Direct Output (9) command, are allowed on an axis if is not enabled.

This command does the following:

Sets the Enabled bit in the Controller Status Bits register.
RMC75/150: Sets the Enabled status bit on all axes.
RMC200: All the axes become enabled if the Auto-Enable Axes option is checked on the RUN/Disabled page of the Programming Properties. For each axis that was previously disabled, the Enable Output is turned on.

These steps enable most motion commands and Auto Stops on the RMC. This command does not clear any faults.

Note:
The RUN Mode (98) command also enables all axes, and puts the controller in RUN mode. See the Run/Program Mode topic for details.

Tip:
If the Start Controller in RUN Mode option in the Programming Properties is checked, the RMC will automatically start up with all axes enabled and in RUN mode. This option is useful if the RMC is used in a stand-alone application.

Note:
For the RMC75 and RMC150, this command does not have any effect on the Enable Output. It does not turn it on or off. Use the Set Enable Output (67) command to turn the Enable Output on or off.