6K Troubleshooting - KDRIVE1 Does Not Disable Drive on a Stall

The documentation for the 6K and GT6K states that if you are using either the DSTALL or ESTALL functions and you have ESK1 and KDRIVE1 set, this should result in your axis being disabled. This is INCORRECT.

The KDRIVE command only disables the drive if a kill is seen by the controller. The ESK command stops motion but does not send a kill. Motion is stopped in another way. For this reason, the KDRIVE setting has no effect.

If you need to have your drive disabled, then you need to check for a stall bits and manually disable the drive in your code.

ESTALL condition sets AS bit 12.
DSTALL conditions set bit ASX bit 17.