Execute this command in a TAKEARMed task that has obtained arm semaphore.

If this command is executed without arm semaphore obtained, Error 21F7 "Arm semaphore cannot be fetched." will result.

This command should be executed when the robot is on halt. If it is executed when the robot is in motion, Error "600B Robot is running" will result. This command is executable even when the motor power is off.