DeactivateRobot

This command disables all motors (as well as the EOAT connected to the tool I/O port) 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

If you deactivate a Meca500 that was already homed, and then reactivate it, you do not need to home it again, unless it has an MEGP 25* gripper installed. In the latter case, however, the homing process is performed only for the gripper, and so the robot does not move. You also need to home the robot again if you reactivated it with ActivateRobot(1).

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.