Command 2053: Controls the temporary halt and resume of the motor excitation

Controls the excitation of joints.

Command Syntax

	bit	Name	Description
Parameter 1	15	reserved	Specify “0”
	｜
	1
	0	control	Select ON/OFF of excitation. 0 = no excitation 1 = excitation

	bit	Name	Description
Parameter 2	15	jointSelect	Specifies the joint number to be controlled. 0 = All joints 1 = Joint #1 2 = Joint #2 3 = Joint #3 4 = Joint #4 5 = Joint #5 6 = Joint #6
	14
	｜
	1
	0

Response Syntax

Refer to the following.

Response Codes

Description

The command controls the excitation of the specified joints.

Select ON/OFF of the joint in Parameter 1.

Select the target joints in Parameter 2. When 0 is selected, all joints can be controlled at one time.

Example

To turn ON Joint #3.

Command	Response
0805H 0001H 0003H	0805H 0000H 0000H