Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 217)

Language Reference • Reference 195
Publication 1398-PM601A-EN-P — October 2000
WORDS
DISABLE Disable Amplifier Miscellaneous
Purpose DISABLE the ULTRA Plus or IQ. Once the ULTRA Plus or IQ has been disabled with
the DISABLE statement in a program, an ENABLE statement must be used to re-
enable the ULTRA Plus or IQ. If a motion statement is executed after the DISABLE
statement, the ULTRA Plus or IQ will be “hung” trying to execute the motion profile -
the motion statement cannot be executed if the ULTRA Plus or IQ is disabled.
Syntax DISABLE
Remarks The following action will take place when a DISABLE is executed. The motor may be
disabled by an instruction in a program, a Host Language Command, the Enable Input,
or the Run Control Dialog box.
When the DISABLE instruction (or Enable input or Disable Host Command) is exe-
cuted:
•
If the motor is being commanded to move, it is decelerated to a stop. The rate of
deceleration is determined by the system acceleration variable, system velocity vari-
able, and the present velocity. The deceleration rate will equal:
System Velocity is the velocity set in the Parameter menu, Velocity/Accel dialog box.
System Acceleration is the acceleration set in the Parameter menu, Velocity/Accel dia-
log box.
•
After the Feedrate Slew Time (above), power will be removed from the motor.
NOTE: After changing the Velocity or Acceleration parameters, a Hard Reset must be
performed to allow the ULTRA Plus or IQ to recalculate the System Feedrate Slew
Time.
•
The Enabled output will turn OFF.
•
If assigned, the In-Position output will turn OFF.
•
If the Error output is assigned AND set to turn on when disabled, the Error output
will turn ON.
If your program disables the ULTRA Plus or IQ and ends before re-enabling, one of
the following actions must be taken to ENABLE the ULTRA Plus or IQ again.
•
Cycle the power OFF and then back ON.
•
HRESET, either by Host Language Commands or by switching the HRESET input
if it has been assigned.
•
Use the Host Language Command, ENABLE command.
•
Run a system program which uses an ENABLE statement.
Turning the ENABLE input OFF and ON will not re-enable a drive that has been dis-
abled by a program. You will not be able to run another program to re-enable the drive
since an enabled drive is a requirement for starting a program.
ENABLE
Example DISABLE
DIS
S y s t e m F e e d r a t e S l e w T i m e
S y s t e m V e l o c i t y
S y s t e m A c c e l e r a t i o n R a t e
D e c e l e r a t i o n R a t e
C u r r e n t V e l o c i t y
S y s t e m F e e d r a t e S l e w T i m e
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