Prerequisites for movements of the robot

General

• Setpoints active
• Override > 0
• Prerequisites depending on the control type

Program mode

• The motion program includes motion commands for poses that do not correspond to the current pose.
• Program pause deactivated
• Program stop deactivated
• Rising edge of program start
• The rising edge must follow at least one cycle after the rising edge of "Setpoint active" and after the falling edges of program pause and program stop to enable the rising edge to start the program.
• In "Manual high speed" operating mode, the program start must remain activated until the entire program has finished. For further information, refer to chapter Program mode.

Jog mode

• In jog mode, at least one jog signal must be activated (positive or negative).