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!"