AKD PDMM User Guide | 28.15 DRV.DISMODE
DRV.DIS issues a software disable to the drive. The method by which the drive will be disabled
(either immediately or with a ramp down first) is controlled by DRV.DISMODE (pg 273).
By querying the value of DRV.ACTIVE (pg 264), you can check whether the drive is currently
enabled or disabled.
By querying the value of DRV.DISSOURCES (pg 274), you can check whether the software
enable bit is high (software enabled was issued by executing DRV.EN) or the software enable
bit is low (software disable was issued by executing DRV.DIS).
If DRV.DIS is commanded the emergency timeout is started. If the drive does not disable or
activate dynamic brake within DRV.DISTO (pg 275), fault "F703" (=> p. 146) is reported.
Related Topics
28.15 DRV.DISMODE
General Information
Type
NV Parameter
Description
Selects among disable immediately or stop and then disable options.
Units
N/A
Range
0 to 3
Default
Value
0
Data Type
Integer
See Also
DRV.DBILIMIT (pg 268) ,DRV.DISTO (pg 275), CS.VTHRESH (pg
240)
Start Version M_01-00-00-000
Fieldbus
Index/Subindex Object Start Version
EtherCAT COE and CAN-
open
/0
M_01-00-00-000
SynqNet Information
Range
0 to 2
Description
DRV.DISMODE sets the drive reaction to a DRV.DIS (pg 272) command.
You must disable the drive in order to set DRV.DISMODE.
Value
Behavior
0
Disable axis immediately.
1
Use dynamic brake to ramp down. The drive remains in the dynamic brake state after
the motor has stopped. The drive is disabled in the sense that it does not close the con-
trol loop and cannot perform a motion, but PWM stays active.
2
Use a controlled stop to ramp down and then disable the drive.
3
Use a controlled stop to ramp down, and then use dynamic brake. The drive remains in
the dynamic brake state after the motor has stopped. The drive is disabled in the
sense that it does not close the control loop and cannot perform a motion, but PWM
stays active.
Kollmorgen™ | December 2012
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