ROBOT system switch ROBOT system switch Syntax ... ROBOT [index] Function Enable or disable one robot or all robots. Usage Considerations The ROBOT system switches may be modified only when both of the following conditions are satisfied: 1. The POWER system switch is OFF. 2. When the eV+ system was booted from disk, at least one robot started up without reporting a fatal error. The maximum number of robots supported depends on your controller configuration. Some controllers do not allow a robot to be calibrated unless all robots with lower index numbers are enabled.
Parameter index Optional real value, variable, or expression (interpreted as an integer) that specifies the robot to be enabled or disabled. The value should be 1 through 15 (corresponding to robots 1 through 15, respectively). If the index is omitted or zero in an ENABLE or DISABLE command or instruction, the settings for all robots are altered. Otherwise, only the setting for the specified robot is affected. Details When the eV+ system starts up (after booting from disk), all the robots that started up without reporting a fatal error are enabled by default, and all the corresponding ROBOT switches are enabled. After start up, the ROBOT switches can be used to selectively disable robots.
For example, this can aid in the debugging of individual robots. The ROBOT switches may be modified only for robots that are present and that started up without a fatal error. When a robot is disabled by use of the ROBOT switch, that robot is bypassed when: l Power is enabled for all robots with the COMP/PWR button on the pendant or with the POWER system switch. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 439