DeactivateRobot

This command disables all motors and engages the brakes on the robot joints. You must deactivate the robot in order to use certain commands (e.g., SetJointLimits, SetNetworkOptions).

Syntax

DeactivateRobot()

Responses

• [2004][Motors deactivated.]

Further details

Your robot does not need homing and even if it is deactivated, the optional vacuum and I/O module can still function with the appropriate *_Immediate command.

Note

By deactivating the robot, you will lose all settings (parameters) that are not persistent, such as the definitions of the TRF and the WRF, the desired turn of the last joint, etc.

Usage restrictions

This command can only be executed when the robot is activated.

Cyclic protocols

In cyclic protocols, the DeactivateRobot command is mapped to the DeactivateRobot bit in the RobotControl data. See Table 4 for more details.