Switching to single axis control

To use some single axis functionalities, the control of the axes must be switched from the robot to the single axes. The robot must be in a safe state when switching control to the single axes.

Cancel enable before switching over control. If the robot is enabled and access to a lower-level single axis is requested, the robot enters fault state. The robot brakes with the remaining axes with an axis-wise emergency stop.

• Switching from robot to single axis
• Switching from single axis to robot