Mode Switching (0111)

Function

This command makes the robot program to be executed from an external device.

Format

Command Area (4 bits, input)

0111

Data Area 1 (8 bits, input)

Bit 0 (00000001): Motor ON

Bit 1 (00000010): External speed 100

Bit 2 (00000100): Motion preparation

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 2 are set, motion preparation, motor ON and external speed 100 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.

Description

This command perform motion preparation of COBOTTA and set so that COBOTTA program can be executed from an external device.

The processing operation to be executed is specified by a bit set in data area 1.

Motor ON (bit 0)

When this bit is set, the power to the COBOTTA motor will be turned on.

External Speed 100 (bit 1)

When this bit is set, the external speed, external acceleration and external deceleration of the COBOTTA will be set to 100.

Motion Preparation (bit 2)

When this bit is set, COBOTTA can execute a robot program.