State Monitoring

current_position

robot.current_position

Returns the current TCP pose in mm / degree rotation-vector representation.

current_angle

robot.current_angle

Returns the current joint angles in degrees.

state()

state = robot.state()

Returns a combined view of state information available from RTDE / Dashboard.

Main elements include:

  • connected

  • running

  • motion_complete

  • robot_mode

  • robot_mode_name

  • robot_status_bits

  • robot_status_flags

  • safety_mode

  • safety_status_bits

  • safety_status_flags

  • protective_stopped

  • emergency_stopped

  • dashboard

Robot mode

Value

Name

-1

NO_CONTROLLER

0

DISCONNECTED

1

CONFIRM_SAFETY

2

BOOTING

3

POWER_OFF

4

POWER_ON

5

IDLE

6

BACKDRIVE

7

RUNNING

8

UPDATING_FIRMWARE

Safety status bits

Bit

Name

0

normal_mode

1

reduced_mode

2

protective_stopped

3

recovery_mode

4

safeguard_stopped

5

system_emergency_stopped

6

robot_emergency_stopped

7

emergency_stopped

8

violation

9

fault

10

stopped_due_to_safety

motion_complete()

robot.motion_complete()

Returns the result of RTDEControl’s isSteady().

wait_for_complete()

robot.wait_for_complete(timeout=10.0)

Waits until the motion is complete.