Control methods
Control methods change the robot arm state. They require remote control mode and return an error code. Create a handle with Control API before calling these methods.
arm_power_on()
Powers on the robot arm.
Return Value
0 — Success; arm is powering on.
-1 — Not in remote control mode.
-2 — Conflict; arm is not in the expected state.
-100 — Other error.
Example status = handle.arm_power_on()
arm_power_off()
Powers off the robot arm.
Return Value
0 — Success; arm is powering off.
-1 — Not in remote control mode.
-2 — Conflict; arm is not in the expected state.
-100 — Other error.
Example status = handle.arm_power_off()
arm_brake_release()
Releases the robot arm brakes. The arm must be powered on first (see arm_power_on()).
Return Value
0 — Success; brakes are releasing.
-1 — Not in remote control mode.
-2 — Conflict; arm is not in the expected state.
-100 — Other error.
Example status = handle.arm_brake_release()
unlock_protective_stop()
Unlocks a protective stop, allowing the robot to resume normal operation. Use when State query methods returns 3 (protective stop).
Return Value
0 — Success; protective stop is unlocking.
-1 — Not in remote control mode.
-2 — Conflict; robot is not in a protective stop state.
-100 — Other error.
Always check the reason for the protective stop. Frequent protective stops negatively affect robot lifetime.
Example status = handle.unlock_protective_stop()
restart_safety()
Restarts the safety system after a safety violation or fault. Use when State query methods returns 8 (violation) or 9 (fault).
Return Value
0 — Success; safety system is restarting.
-1 — Not in remote control mode.
-2 — Conflict; robot is not in a safety fault or violation state.
-100 — Other error.
Always check the reason for the safety fault or violation. Ensure it is safe to restart the system. It is highly recommended to check the error log before using this command.
Example status = handle.restart_safety()
program_start()
Starts the currently loaded main program. If the main program is paused, it is resumed. A separate resume method is not needed.
Return Value
0 — Success; program is starting or resuming.
-1 — Not in remote control mode.
-2 — Conflict; program is not in the expected state.
-100 — Other error (for example, no program loaded).
Example status = handle.program_start()
program_pause()
Pauses the currently running main program.
Return Value
0 — Success; program is pausing.
-1 — Not in remote control mode.
-2 — Conflict; program is not in the expected state.
-100 — Other error.
Example status = handle.program_pause()
program_stop()
Stops the currently running main program.
Return Value
0 — Success; program is stopping.
-1 — Not in remote control mode.
-2 — Conflict; program is not in the expected state.
-100 — Other error.
Example status = handle.program_stop()