Delta RMC151 - Manual (Page 711)

8 Command Reference
This command is often unnecessary because motion commands will also clear the above-
mentioned status and error bits, unless the underlying condition still exists. However, this
command may be useful to clear the faults just to see which conditions went away.
Except for its effect on the error bits and halt status bits, this command does not affect
the state of the axis. That is, it will not stop a halting axis from continuing to ramp down
its Control Output, and it will not switch an axis into or out of closed loop.
8.3.3. Command: Enable Controller (7)
Supported Axes: All
Firmware Requirement: 1.00 or newer
See the Commands Overview topic for basic command information and how to issue
commands from PLCs, HMIs, etc.
Command Parameters
None.
Description
This command enables all the axes on the RMC. It is typically used after starting up the
RMC. No motion commands, other than the Direct Output (9) command, are allowed on
an axis if is not enabled.
This command does the following:
• Sets the Enabled bit in the Controller Status register.
See the RMC70 Register Map - Controller Parameters or RMC150 Register Map -
Controller Parameters for details on this status bit.
• Sets the Enabled status bit on all axes.
These steps enable most motion commands and Auto Stops on the RMC. This command
does not clear any faults.
Note:
The RUN Mode (98) command also enables all axes, and puts the controller in RUN mode. See
the Run/Program Mode topic for details.
Tip:
If the Start Controller in RUN Mode option in the Programming Properties is checked, the
RMC will automatically start up with all axes enabled and in RUN mode. This option is useful if
the RMC is used in a stand-alone application.
Note:
This command does not have any effect on the Enable Output. It does not turn it on or off.
Use the Set Enable Output (67) command to turn the Enable Output on or off.
Why Bother?
This command keeps the RMC from executing commands before you have specifically told
it to. If the Enabled bit is off, it says "Hey, I just woke up! I won't do anything until you
enable me! Then I will be convinced that you are aware that I just started up and may be
all messed up!"
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