Filter
Top Products
60
3.5.3.7 Mode Switching (0111)
(1) Function
This command switches the robot mode from the external device to
prepare the robot for operation.
This command is executable only in auto mode. An error will occur in
other modes. Before executing this command, select auto mode on the
operating panel or the teach pendant.
(2) Format
Command area (4 bits, input)
0111
Data area 1 (8 bits, input)
Bit 0 (00000001): Motor ON, CAL execution
Bit 1 (00000010): External speed 100
Bit 7 (10000000): External mode switching
These bits can be set together to execute commands. When two or more
bits are set, commands will be executed one after another.
For example, when bits 0, 1 and 7 are set, motor ON, CAL execution,
external speed 100 and external mode will be executed in this order.
If bits other than the above are set, an error will result.
Data area 2 (16 bits, input)
Nothing will be input.
Status area (16 bits, output)
Nothing will be output.
(3) Description
This command is used for equipment using the robot to switch the
operation mode of the robot to external mode from the external device
The processing operations to be executed are specified by the bits set in
data area 1 and will be executed from bit 0 to bit 7.
Motor ON, CAL execution (bit 0)
When this bit is set, the power to the Robot Controller motor will be
turned ON and CAL will be executed. If CAL is executed once after the
power is turned ON, no processing will take place.