'''Note:''' The following R-CODE actions are available for all AIBO models (unless otherwise specified).

'''Note:''' R-CODE System Actions are available for all AIBO models unless otherwise specified.

!!R-CODE System Actions
'''Note''' R-CODE System Actions are available for all AIBO models unless otherwise specified.

|| border=1 cellpadding=5 cols=2 frame=below rules=rows
||!Action ||!Description ||
||[[#SIT]]SIT ||AIBO moves into standard sit posture. ||
||[[#STAND]]STAND ||AIBO moves into standard stand posture. ||
||[[#LIE]]LIE ||AIBO moves into standard lie posture. ||
||[[#WALK]]WALK ||AIBO walks the specified angle and distance. ||
||[[#STOP_WALK]]STOP_WALK ||AIBO aborts previous walk command. ||
||[[#TURN]]TURN ||AIBO turns the specified angle. ||
||[[#KICK]]KICK ||AIBO performs a kick at the specified angle and distance. ||
||[[#TOUCH]]TOUCH ||AIBO sits down and performs a touch (with right front paw) at the specified angle and distance. ||
||[[#MOVE_HEAD]]MOVE_HEAD ||AIBO turns its head to the specified horizontal and vertical angles. ||
||[[#TRACK_HEAD]]TRACK_HEAD ||AIBO tracks the specified target if it's within sight (tacking will stop if the target item is lost sight of). ||
||[[#SEARCH]]SEARCH ||AIBO searches for the specified target starting from the current head position (searching will stop if the target item is spotted, or the target is not found within a preset time). ||
||[[#SEARCH.HEAD.NORMAL]]SEARCH.HEAD.NORMAL ||AIBO searches for the specified target starting from the current head position (searching will stop if the target item is spotted, or the target is not found within a preset time). ||
||[[#SEARCH.HEAD.SLOW]]SEARCH.HEAD.SLOW ||AIBO slowly searches for the specified target starting from the current head position (searching will stop if the target item is spotted, or the target is not found within a preset time). ||
||[[#SEARCH.HEAD.NORMALCENT]]SEARCH.HEAD.NORMALCENT ||AIBO looks forward and searches for the specified target (searching will stop if the target item is spotted, or the target is not found within a preset time). ||
||[[#SEARCH.HEAD.SLOWCENT]]SEARCH.HEAD.SLOWCENT ||AIBO looks forward and slowly searches for the specified target (searching will stop if the target item is spotted, or the target is not found within a preset time). ||
||[[#SEARCH.HEAD.LOWCENT]]SEARCH.HEAD.LOWCENT ||AIBO looks down and searches for the specified target (searching will stop if the target item is spotted, or the target is not found within a preset time). ||
||[[#PALONE.AUTO.EAR]]PALONE.AUTO.EAR ||AIBO flicks both ears. (:ers210:) (:ers7:) ||
||[[#PALONE.AUTO.EARL]]PALONE.AUTO.EARL ||AIBO flicks left ear only. (:ers210:) (:ers7:) ||
||[[#PALONE.AUTO.EARR]]PALONE.AUTO.EARR ||AIBO flicks right ear only. (:ers210:) (:ers7:) ||
||[[#PALONE.AUTO.EARSTOP]]PALONE.AUTO.EARSTOP ||AIBO aborts the previous ear flick command. (:ers210:) (:ers7:) ||
||[[#PALONE.AUTO.TAILV]]PALONE.AUTO.TAILV ||AIBO wags its tail vertically. (:ers210:) (:ers7:) ||
||[[#PALONE.AUTO.TAILH]]PALONE.AUTO.TAILH ||AIBO wags its tail horizontally. (:ers210:) (:ers7:) ||
||[[#PALONE.AUTO.TAILROT]]PALONE.AUTO.TAILROT ||AIBO wags its tail in a circular pattern. (:ers210:) (:ers7:) ||
||[[#PALONE.AUTO.TAILD]]PALONE.AUTO.TAILD ||AIBO moves its tail to a downward position. (:ers210:) (:ers7:) ||
||[[#PALONE.AUTO.TAILUP]]PALONE.AUTO.TAILUP ||AIBO moves its tail to an upward position. (:ers210:) (:ers7:) ||
||[[#PALONE.AUTO.TAILSTOP]]PALONE.AUTO.TAILSTOP ||AIBO aborts previous tail wag command. (:ers210:) (:ers7:) ||
||[[#MOVE.HEAD.NORMAL]]MOVE.HEAD.NORMAL ||AIBO turns its head to the specified horizontal and vertical angles. ||
||[[#MOVE.HEAD.FAST]]MOVE.HEAD.FAST ||AIBO quickly turns its head to the specified horizontal and vertical angles. ||
||[[#MOVE.HEAD.SLOW]]MOVE.HEAD.SLOW ||AIBO slowly turns its head to the specified horizontal and vertical angles. ||
||[[#MOVE.TURN.NORMAL]]MOVE.TURN.NORMAL ||AIBO turns the specified angle. ||
||[[#MOVE.TURN.SLOW]]MOVE.TURN.SLOW ||AIBO slowly turns the specified angle. ||
||[[#MOVE.MOVE.NORMAL]]MOVE.MOVE.NORMAL ||AIBO walks the specified angle and distance. ||
||[[#MOVE.MOVE.SLOW]]MOVE.MOVE.SLOW ||AIBO slowly walks the specified angle and distance. ||
||[[#CHGPOS.WALK.NORMAL]]CHGPOS.WALK.NORMAL ||AIBO changes to a walking posture. ||
||[[#CONTACT.RIGHT.TOUCH]]CONTACT.RIGHT.TOUCH ||AIBO sits down and performs a touch (with right front paw) at the specified angle and distance. ||
||[[#CONTACT.RIGHT.TOUCH]]CONTACT.RIGHT.TOUCH ||AIBO crouches down and performs a touch (with right front paw) at the specified angle and distance. ||
||[[#CONTACT.FRONT.HEAD]]CONTACT.FRONT.HEAD ||AIBO performs a forward kick with its head. ||
||[[#CONTACT.FRONT.HEADR]]CONTACT.FRONT.HEADR ||AIBO performs a right kick with its head. ||
||[[#CONTACT.FRONT.HEADL]]CONTACT.FRONT.HEADL ||AIBO performs a left kick with its head. ||
||[[#CHGPOS.STATR.NORMAL]]CHGPOS.STATR.NORMAL ||AIBO lies on the floor and looks sad. ||
||[[#SMESS.NOTICE.NOTICE1]]SMESS.NOTICE.NOTICE1 ||AIBO lights eyes in a pattern. (variation 1) Used for debugging, exact pattern depends on AIBO model. ||
||[[#SMESS.NOTICE.NOTICE2]]SMESS.NOTICE.NOTICE2 ||AIBO lights eyes in a pattern. (variation 2) Used for debugging, exact pattern depends on AIBO model. ||
||[[#SMESS.ERROR.ERROR1]]SMESS.ERROR.ERROR1 ||AIBO lights eyes in a pattern. (variation 1) Used for debugging, exact pattern depends on AIBO model. ||
||[[#SMESS.ERROR.ERROR2]]SMESS.ERROR.ERROR2 ||AIBO lights eyes in a pattern. (variation 2) Used for debugging, exact pattern depends on AIBO model. ||
||[[#SMESS.MODE.CLEAR]]SMESS.MODE.CLEAR ||AIBO aborts previous SMESS eye pattern. ||
||[[#CLIFF_DETECT_ON]]CLIFF_DETECT_ON ||R-CODE cliff detection saftey feature on. (default setting) (:ers7:) ||
||[[#CLIFF_DETECT_OFF]]CLIFF_DETECT_OFF ||R-CODE cliff detection saftey feature off. (:ers7:) ||

SIT Sit
STAND Stand
LIE Lie down (1)
WALK Walk
STOP_WALK Stop walking
TURN Turn around
KICK Kick
TOUCH Touch
MOVE_HEAD Look in the specified direction
TRACK_HEAD Track an object
SEARCH Search for an object
SEARCH.HEAD.NORMAL Search in the current head direction
SEARCH.HEAD.SLOW Search slowly in the current head direction
SEARCH.HEAD.NORMALCENT Look forward and search
SEARCH.HEAD.SLOWCENT Look forward and search slowly
SEARCH.HEAD.LOWCENT Look down and search
PALONE.AUTO.EAR Move both ears
PALONE.AUTO.EARSTOP Stop moving ears
PALONE.AUTO.TAILV Wag tail up and down
PALONE.AUTO.TAILH Wag tail left and right
PALONE.AUTO.TAILROT Rotate tail
PALONE.AUTO.TAILD Lower tail
PALONE.AUTO.TAILSTOP Stop moving tail
MOVE.HEAD.FAST Look quickly in the specified direction
MOVE.HEAD.NORMAL Look in the specified direction
MOVE.HEAD.SLOW Look slowly in the specified direction
MOVE.TURN.NORMAL Turn around
MOVE.TURN.SLOW Turn around slowly
MOVE.MOVE.NORMAL Walk
MOVE.MOVE.SLOW Walk slowly
CHGPOS.WALK.NORMAL Change to walking posture
CONTACT.RIGHT.TOUCH Sit and touch with right paw
CONTACT.RIGHT.TOUCH2 Crouch and touch with right paw
CONTACT.FRONT.HEAD Head the ball
CHGPOS.STATR.NORMAL Lie down (2)
SMESS.NOTICE.NOTICE1 Debug notice 1
SMESS.NOTICE.NOTICE2 Debug notice 2
SMESS.ERROR.ERROR1 Debug error notice 1
SMESS.ERROR.ERROR2 Debug error notice 2
SMESS.MODE.CLEAR Clear debug indication

ERS-7 ONLY
CLIFF_DETECT_ON Cliff detect on ( default )
CLIFF_DETECT_OFF Cliff detect off