Sequenced Enable

Sequenced Enable changes the axis enable behavior so that each axis waits until the previous axis is enabled and ready. This can help avoid current spikes caused by all axes enabling at once, allowing each axis to draw more current while enabling.

This feature is available from iRC V14-005 for BLDC axes.

Configuration

Sequenced Enable can be configured in the robot configuration. Find the block starting with BusConfiguration and change or add the line SequencedEnable as shown below.

	<BusConfiguration Protocol="CPRCANV2" CycleTimeMS="10" GapMS="0.2" Type="PCANUSB" ParameterInterfaceVersion="2" PreciseTiming="true">
 		<Joints NrOfJoints="6"/>
		<Joint0 ID="16" Min="-170.0" Max="170.0" GearScale="3231.29" GearZero="0" CurrentScale="1.0" CurrentZero="0.0"  TempScale="0.01" TempZero="0.0" GearPlay="0.0" GearPlayInc="0.5" CheckReady="true"/>
		<Joint1 ID="32" Min="-170.0" Max="170.0" GearScale="-3231.29" GearZero="0" CurrentScale="1.0" CurrentZero="0.0"  TempScale="0.01" TempZero="0.0" GearPlay="0.0" GearPlayInc="0.5" CheckReady="true"/>
		...
		<SequencedEnable ByReadyFlag="true"/>
	</BusConfiguration>

Note the CheckReady attribute at the end of the Joints definitions. This makes the axis check the ready state, e.g. to prevent starting a program while an axis is not ready to move yet. If this flag is set to false the Sequenced Enable feature will not wait for this axis, the next axis will be enabled immediately.