Configuration commands

Configuration commands are used to change persistent settings that retain their value even after power cycling the robot. These commands return a unique response, the generic response “[2085][Command successful: ‘…’.]”, or an error message. For brevity, only the unique responses will be listed for each robot control command.

Contrary to motion commands, configuration commands are executed immediately, i.e., are instantaneous.

The robot configuration commands are listed below in several groups.

Network configuration commands

• EnableEtherNetIp

• EnableProfinet

• SwitchToEtherCat

• SetNetworkOptions

• SetRobotName

Robot work zone and joint limits configuration commands

• SetCollisionCfg

• SetJointLimits

• SetJointLimitsCfg

• SetToolSphere

• SetWorkZoneCfg

• SetWorkZoneLimits

Robot behavior configuration commands

• SetPStop2Cfg

• SetSimModeCfg

• SetCalibrationCfg