Mode Switching(0111)

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.

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.

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.

External Speed 100 (bit 1)

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

External Mode Switching (bit 7)

When this bit is set, the mode of the Robot Controller will be switched from automatic to external.