Mode Switching (Operation Preparation) (0111)

Function

This command prepares the robot for operation by turning the motor power on, setting the external speed to 100 and so on.

This command can be executed only in Auto mode. If this command is executed in other modes, an error will occur. Before executing this command, select the Auto mode with the smart TP or mini-pendant.

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): STO state reset

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, if bits 0, 1 and 2 are set, commands will be executed in the following order. STO state reset, Motor Power ON, and External speed 100.

If bits other than above are set, an error will occur.

Data area 2 (16 bits, input)

Not required

Status area (16 bits, output)

Nothing will be output.

Description

This command is used when preparing the robot for operation by turning the motor power on, setting the external speed to 100 and so on.

The processing operations to be executed are allocated to each bit in data area 1. By setting to data area 1, the processing operations allocated to the bit will be executed.

Motor ON (bit 0)

When this bit is set, the motor power of the robot will be turned ON.

External Speed 100 (bit 1)

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

STO state reset (bit 2)

When this bit is set, the STO state will be cleared. If it is not in the STO state, nothing will be performed.