Command: Enable/Disable Axis (97)

Supported Axes:

All

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

Command Parameters

#	Parameter Description
1	Enable/Disable: Enable (1), Disable (0)

Description

This command enables or disables a single axis. In general, an axis must be enabled before accepting normal motion commands. To enable all axes at once, use the Enable Controller (7) command.

The Enabled Status bit indicates whether the axis is enabled or disabled. When this command is issued with the Disable parameter, it will turn off the Enabled Status bit and cause a Direct Output Halt on the axis.

For EtherCAT drives or valves, it will take some time for the axis to become enabled. See the relevant section below for special considerations.

The behavior of this command differs between the various controller and axis types as described below.

RMC75/150:

This command does not have any effect on the Enable Output. It does not turn it on or off.
When the Enabled Status bit is off, the axis will not accept any motion commands other than the Direct Output (9) command.

RMC200 axes:

This command will affect the Enable Output. If the axis is currently disabled and this command is sent to enable the axis, the Enable Output will turn on. If the axis is currently enabled and this command is sent to disable the axis, the Enable Output will turn off.
When the Enabled Status bit is off, the axis will not accept any motion commands.

RMC200 axes with EtherCAT output:

This command will start the process of enabling the axis. The EtherCAT device must be in Op mode when this command is sent or the axis will not be enabled. Use the EtherCAT Bus Status register to check whether the EtherCAT network is in Op mode (a value of 10).

After sending a command to Enable the axis, wait for the Enabled Status bit to be on before sending motion commands to the axis.

It takes at least a few loops times for the Enabled Status bit to turn on and commonly may take 10 msec or longer.

EtherCAT Drives:

This command will start the process of enabling the drive’s internal operating state machine (this is separate from the EtherCAT state machine). The enable process will time out if the drive is not enabled within 500 ms.

The Enable SM status bit will turn on when the axis starts attempting to enable the drive’s state machine. If a timeout occurs, the bit will turn off. If the drive state machine is successfully enable, the bit will continue to remain on as long as the drive state machine is not disabled.
EtherCAT Valves:

This command will start the process of enabling the valve’s internal operating state machine (this is separate from the EtherCAT state machine). The enable process will time out if the valve is not enabled within 500 ms.

The Enable SM status bit[link] will be on when the axis starts attempting to enable the valve’s state machine, and it will remain on as long as the valve state machine is not disabled.
EtherCAT Generic Output:

If the EtherCAT device is in Op mode, the axis will be enabled.

When the Enabled Status bit is off, the axis will not accept any motion commands.

Certain feedback axis parameters in the RMC require the axis' Enabled Status bit to be off before they can be changed, such as the Position Scale. RMCTools automatically takes care of this. However, if you are changing parameters in the RMC from a PLC or other host controller, you may need to use this command to disable the axis before writing to those axis parameters.