Rainbow Robotics RB Series, User Manual

Page: 398 / 440

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
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The value should be 0, 12 or 24. Any number other than that
will be ignored.
-1 can be used to keep the voltage previously defined.
The input values for d0 to d1 are used to activate the port.
The number should be 0 or 1. 0 and 1 mean off and on,
respectively.
-1 can be used other than 0 or 1. In this case, the port with -1
keeps the previous status.
Example “tool_out 12, 1, 0”
The following commands are for initialization, termination, and operation mode changes
speed change.
1) mc
2) shutdown
3)
pgmode
4)
sdw
1) mc
Script mc jall init
Descript. This command starts initialization process.
Example “mc jall init”
2) shutdown
Script shutdown
Descript. This command terminates the robot operation and turns off
the power.
Example “shutdown”
3) pgmode
Script pgmode mode_type
Descript.
This command changes the mode between real and
simulation modes.
The input values for mode_type should be “real” or
“simulation”.
In “real”, the robot moves when commanded.