EO – Axis Enable Status
Read/Write command that returns/sets the enable status of all axes (1-4) at once or return/sets status individually.
ASCII/Standalone EO Return/sets status for all axes
EO[1-4] Return/sets status for an axis individually
Syntax
All axis at once
Read
EO
Write
EO=[value]
|
Where: [value] is an integer [(0-3) for 2-axis, (0-15) for 4-axis] that represents the bit configuration of the enable outputs. See Notes for more details. |
Each axis individually
Applies to: CMD-4CR, CMD-4EX-SA
Read
EO[1-4]
|
Where: [1-4] specifies the axis (1 = X, 2 = Y, 3 = Z, 4 = U) |
Write
EO[1-4]=[value]
EO=[value]
|
Where: [1-4] specifies the axis (1 = X, 2 = Y, 3 = Z, 4 = U) [value] indicates/sets the enable status (0 = disabled, 1 = enabled) |
Applies to: CMD-2ED-SA, CMD-2EX
Read
EO[1-2]
|
Where: [1-2] specifies the axis (1 = X, 2 = Y) |
Write
EO[1-2]=[value]
|
Where: [1-2] specifies the axis (1 = X, 2 = Y) [value] indicates/sets the enable status (0 = disabled, 1 = enabled) |
Reply
Command is accepted and executed
Read
EO returns an integer [(0-3) for 2-axis, (0-15) for 4-axis] that represents the bit configuration of the enable outputs
EO[1-4] returns the status of a single enable, With a value of 1 indicating on, and 0 off
Write
OK
Command cannot be processed
An error message is returned. See Error Codes
Example
Read
EO * Returns enable status for all axes
Ex. Return a value of 9, or binary 1001, indicates axes X and U are enabled, 2 and 3 are disabled.
EO3 * Returns the status of Z-axis enable
Write
EO4=1 * Enables U axis
EO=11 * Since 11 is binary 1011, axes X, Y, and U are enabled, Z-axis is disabled
Notes
- Recommended: Do not to disable any axis while moving.
- Table for CMD-2ED-SA, CMD-2EX
|
Bit |
Axis Designation |
Disabled, Enabled |
Bit-Wise Command |
|
0 |
X-axis |
0 1 |
EO1 |
|
1 |
Y-axis |
0 1 |
EO1 |
- Table for CMD-4CR, CMD-4EX-SA
|
Bit |
Axis Designation |
Disabled, Enabled |
Bit-Wise Command |
|
0 |
X-axis |
0 1 |
EO1 |
|
1 |
Y-axis |
0 1 |
EO2 |
|
2 |
Z-axis |
0 1 |
EO3 |
|
3 |
U-axis |
0 1 |
EO4 |
- While the EO command can be used to enable or disable the current to the motor, the effect of the enable output signals will depend on the characteristics of the motor drive.