Disable the Motor Amplifier

<P style="MARGIN: 0px">Sir
<P style="MARGIN: 0px">Is any command for disabling the Motor Amplifier or( Motor power supply)? Assume if we have given the position command(00 0f 00 00 in destination Reg) and if we disable the amplifier (or motor power supply) then will motor stop that instant?

<P style="MARGIN: 0px">There is no such command but there are two tricks that you can use to achieve this.
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<P style="MARGIN: 0px">The first is to use the output C (which you can control with an RS232 command) and wire it to one of the digital input. You can then configure the digital input to turn off the amplifier when active.
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<P style="MARGIN: 0px">You need to configure the digital input using the Roborun utility. THen, to turn on the amplifier, you activate output C with the !C command. To turn off the amplifier, you turn off output C with the !c command.
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<P style="MARGIN: 0px">This would be the cleanest way to achieve what you need. Note that both channels will be turned on or off at the same time.
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<P style="MARGIN: 0px">The other method is to temporarily switch the controller to Open loop mode. This can be done on the fly by loading the configuration and send the ^FF for it to take effect. Since this changes the parameter in flash, it is not the preferred approach but it is acceptable. You can revert back to closed loop whenever you need using the same approach.

Sir Output C is the Output pin of the controller. If we want to sense the Input from the outside and disable the motor amplifier I think it is not posible. Instead if we use the input F Pin and connect the Input to this pin from the sensor output then we can stop the motor instantly by diasbling the motor amplifier FET. If I am correct then reply so that i can go ahead.

<P style="MARGIN: 0px">if you want to disable the amplifier based on an external signal, then you can connect that switch directly to the input pin as you suggest.