—Ensuring That the Plea Is Vol-

untary The judicial authority shall not accept a plea of guilty or nolo contendere without first determining, by addressing the defendant personally in open court, that the plea is voluntary and is not the result of force or threats or of promises apart from a plea agreement. The judicial authority shall also inquire as to whether the defendant’s willingness to plead guilty or nolo contendere results from prior discussions between the prosecuting author- ity and the defendant or his or her counsel. (P.B. 1978-1997, Sec. 712.)