Temporarily Disable External Axes

    I have a Dual R-30ib contoller setup, and two Arc mate 100iC arms, and 3 external axis. We were shipped the wrong motors for the external axis, and cant install them. This of course gives you the DTERR error for all 3 external axes. I have been on a hunt for a way to disable the 3 external axis temporarily so I can move the robots only. I dont have time to wait for the motors arrive before I can move the arms, and was wondering if any of you guys might know a quick way to mask the external axes.

    I faced the same situation a few times. This is what I did:
    1. The wrong motor has the right encoder. I just plug in the encoder then reset BZAL, cycle power and move the robot arm.
    2. If the motors are in different group from the arm, and do not share the same brake with the arm, you can disable the motor by going Menu, Test Cycle, Type, Setup. Then you can move the arm with the motor disabled. But you need to do the same each time after you reboot your controller.
    3. Delete the motor in controlled start. Menu, Maintenance. Bring them back after you receive the right motor.

    I concur with leopard; as long as the pulsecoders are connected and you can get rid of the alarms you should be able to workaround. Another option is use the sysvar $MCR_GRP[1].$servo_disbl[9]. You can disable any servo. This command can be read/write into tpp easily as well. Many uses for this, you can even cheat and use it like servo float.

    $SCR_GRP[1].AXISORDER
    [1] 1
    [2] 2
    [3] 3
    [4] 4
    [5] 5
    [6] 6
    [7] 7 <- Set to 0 to temporarily disable an extended axis
    [8] 0
    [9] 0

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