Would you like to explain the reference command logic of CS8 to me? or do you have a document about reference command? I tried to execute the command, but there is a error, I do not know what the problem is. Actually the reason why I want to use the reference function is when I change the robot to manual mode by Staubli tech pendant, the robot speed will change to 250mm/s forcely, but if I use the mpad to control the robot, I have to change the robot to remote mode, cannot change to manual mode, in this way, robot speed must be set by PLC. so I want to use the reference fucntion to reduce global robot speed during setup mode(open the safety door and press enable button mode), because the speed limit configuration must use with reference fucntion in the Staubli robot - safe cell + license
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