Enable mode
INFORMATION
You cannot explicitly select the enable mode as it results implicitly from the conditions described in chapter "Robot states".
INFORMATION
The drives are braked individually via the emergency stop in the inverter in the event of an axis-by-axis emergency stop. No central profile generator is used for braking. This can cause the lower-level MOVIKIT® MultiAxisController to jam the mechanics in the "Torque priority" operating mode and unexpected skew in the "Skew priority" operating mode.
The "Enable" state is required for the robot to execute a motion in jog mode and in program mode. The following enable modes are available:
0: Emergency stop (axis-by-axis), 1: Emergency stop (true-to-path), 2: Application stop, 3: Enable
This sequence corresponds to the hierarchy of the enable modes. A higher enable mode is activated if no cause for a lower enable mode applies.
The following table shows the differences in the various enable modes:
| Application stop | Emergency stop (true-to-path) | Emergency stop (axis-by-axis) |
|---|---|---|---|
Calculation of the braking operation | MOVIKIT® Robotics | MOVIKIT® Robotics | MOVIKIT® of the axis group member |
Path fidelity during braking | Yes | Yes | No |
Motion parameter set used for braking | Currently selected set of motion parameters | Parameterized motion parameter set of the emergency stop (except when jogging in the "Axis" coordinate system. The braking deceleration ramp of the MOVIKIT® axis group member is effective here) | Deceleration ramps of the MOVIKIT® axis group member |
Behavior of the inverters in idle state/standstill | Interpolated positioning control (with a specified, constant setpoint position) | Emergency stop by means of the brakes or the position hold control of the inverter | Emergency stop by means of the brakes or the position hold control of the inverter |
Path can continue after idle state/standstill | Yes | Yes, after Repositioning (BackToPath) has been carried out. | Yes, after Repositioning (BackToPath) has been carried out. |
Possible causes for activation | Jog mode or program mode is not activated. | No enable | Access to the axis group member is activated and, therefore, not set to "Upper". |
Possible causes for the software module | - | Fault status | - |
Possible causes of axis group members | - | - |
|
Possible causes of the safety controller | Requests application stop | Requests emergency stop | Requests emergency stop |
