ActivateRobot

This command activates all motors (as well as the EOAT connected to the tool I/O port) and disables the brakes of the joints.

Syntax

ActivateRobot(e)

Arguments

• e: the argument is optional; if the argument is used and is 1, the command forces a re-initialization of the drives. Homing is then required again.

Responses

• [2000][Motors activated.]

Usage restrictions

This command can be executed in any robot state.

If the robot is already activated, the response is returned and the robot does nothing.

Cyclic protocols

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

The equivalent of ActivateRobot(1) in cyclic protocols (to force drives reinitialization) is to send MotionCommandID 1002 (“clear homing”) before activating the robot. See Section 4.2 for more details.