ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 115)

MO - Motor Enable/Disable
Purpose:
Enables and disables (freewheels) the motor power.
Disabling the motor
MO=0 disables the motor. This is the idle state of the drive. The power stage is
disabled and no current flows in the motor. In this mode the servo drive can
perform various tasks that are impossible when the motor is on:
Boot on power up.
Calculate and check the integrity of the drive database.
Download new firmware and user programs.
Save parameters in the flash memory.
Modify setup data that cannot be modified on-the-fly, such as
commutation parameters (CA[N]) and unit mode (UM).
The servo driver is automatically disabled when a motor fault is captured (MF).
An attempt to enable the motor may fail if the conditions of the fault still exist.
If the brake function is activated, the MO=0 command duration is
extended according to the BP[N] command specification.
Enabling the motor
MO=1 is the operative state of the servo drive, driving the motor and activating and
executing the programmed motion. The software runs a set of tests to ensure that all
conditions for running the motor are met.
If MO is set to 1 and the motor is already on, nothing happens.
When the motor is enabled, the drive reinitializes the internal parameters and motion
drivers. The drive may fail to start if the setup data is found to be inconsistent (for
example, CA[4]=CA[5]). In this case, CD commands indicate the reason for the
failure.
The last captured motor fault (MF) is reset to zero.
In the position control modes (UM=4, 5), the motor is always started so that it does
not jump. The total position control command — which consists of the internal
position command and the external position command — is set to the actual present
position of the motor in order to prevent the motor from jumping.
Notes:
When RM=1 the servo drive will attempt to start (set MO=1) automatically after
power on. A servo drive that has been shut down for any reason will attempt an
automatic restart every few milliseconds. Automatic restart will occur only if the
Enable switch (INH) is active (refer to the
IL[N] command). In all other modes,
the MO=0 state is maintained until MO is explicitly changed by a software
command.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing
MAN-STECR (Ver. 1.1)
107