Switching from robot to single axis

  1. Cancel enable for the robot (xEnable_EmergencyStop = "FALSE").
  2. Check to ensure that the setpoint is no longer active (xSetpointActive = "FALSE")
  3. Request access to the lower-level axis (xGetAccessControl = "TRUE").
    • Access to the single axis is granted (xControlActive = "TRUE").
  • The single axis can be controlled.