Command Reference
MagnaTran 7.1 User’s Manual
Set Load Mode
MN-003-1600-00
Brooks Automation
8-134
Revision 2.2
Set Load Mode
Purpose
To set the load mode for the specified arm.
Format
SET LOAD MODE [BI|TRI]
Arguments
MODE:
Sets the load mode type.
BI = Two state mode
TRI = Three state mode
Description
This command sets the mode for reporting the load status of the arm. The load status
is used to determine the speed of all motion commands.
The two state mode will report load status as ON or OFF. The command WAF_SEN
is not required after homing. The default on power up is ON.
The three state mode will report load status as ON, OFF or ? (UNKNOWN). The
CHECK LOAD command or the SET LOAD command must be executed after hom-
ing.
NOTE:
Set commands only store the specified setting in RAM. Resetting the robot will
cause the original setting to be loaded from non-volatile memory.
See Also:
RQ LOAD, SET LOAD, STORE LOAD MODE, RQ LOAD MODE,
CHECK LOAD
Example
SET LOAD MODE TRI
