Operation Preparation (000)

Function

Prepares to operate the robot by switching the operation mode from the external devices.

Format

Command Area (3 bits, input)

000

Data Area (3 bits, input)

0 bit : Motor Power ON, CAL Execution

1 bit : External speed 100

2 bit : External mode switching

These bits can be set at the same time and can be executed. If plural bits are set, the commands are executed in order. For example : If the 0 bit, 1 bit and 2 bit are set, commands are executed as follows; Motor Power ON, CAL Execution, External speed 100 and External mode switching

Description

This command can be executed in Auto mode. In other modes, an error occurs at execution. When executing this command, select the Internal auto mode on the teach pendant or mini-pendant beforehand.