system Services

GetRobotMode

It is a service input for checking the current operation mode of the robot controller.

The auto mode is a mode for automatically performing a series of operations (programs), and the manual mode is for performing a single operation such as jogging.

Request:

(None)

Response:

int8 robot_mode
bool        success

enum.ROBOT_MODE

Num	Name	Description
0	ROBOT_MODE_MANUAL	Manual mode
1	ROBOT_MODE_AUTONOMOUS	Auto mode
2	ROBOT_MODE_MEASURE	Measure mode (Not currently supported)

SetRobotMode

This service is for setting the current operation mode of the robot controller.

Request:

int8 robot_mode # <Robot_Mode>

Response:

bool success

enum.ROBOT_MODE

Num	Name	Description
0	ROBOT_MODE_MANUAL	Manual mode
1	ROBOT_MODE_AUTONOMOUS	Auto mode
2	ROBOT_MODE_MEASURE	Measure mode (Not currently supported)

GetRobotSystem

It is a service input for confirming the current operation mode (virtual robot, actual robot) of the robot controller.

Request:

(None)

Response:

int8 robot_system   # 0 : ROBOT_SYSTEM_REAL
                    # 1 : ROBOT_SYSTEM_VIRTUAL
bool        success

SetRobotSystem

This is a service for setting up the current robot system of the robot controller.

Request:

int8 robot_system   # 0 : ROBOT_SYSTEM_REAL
                    # 1 : ROBOT_SYSTEM_VIRTUAL

Response:

bool success

GetRobotSpeedMode

This service is used to check the current speed mode (normal mode, deceleration mode) from the robot controller.

Request:

(None)

Response:

int8 speed_mode      # 0 : SPEED_NORMAL_MODE
                     # 1 : SPEED_REDUCED_MODE
bool        success

SetRobotSpeedMode

This service is used to set and change the currently operating speed mode of the robot controller.

Request:

int8 speed_mode      # 0 : SPEED_NORMAL_MODE,
                     # 1 : SPEED_REDUCED_MODE

Response:

bool success

SetSafeStopResetType

This service is used to define a series of actions to be executed automatically after the state transition using the SetRobotMode service when the operation status information of the robot controller is SAFE_STOP.

If the robot operation mode is automatic, you can define and set whether to re-execute the program. In manual mode, this setting is ignored.

Request:

int8 reset_type      # 0: SAFE_STOP_RESET_TYPE_DEFAULT = SAFE_STOP_RESET_TYPE_PROGRAM_STOP
                     # 1: SAFE_STOP_RESET_TYPE_PROGRAM_RESUME

Response:

bool success

enum.SAFE_STOP_RESET_TYPE

Num	Name	Description
0	SAFE_STOP_RESET_TYPE_DEFAULT	Simple state release (manual mode)
0	SAFE_STOP_RESET_TYPE_PROGRAM_STOP	Stop program (auto mode)
1	SAFE_STOP_RESET_TYPE_PROGRAM_RESUME	Restart the program (automatic mode)

SetSafetyMode

Set the controller safety mode and associated safety event.

Request:

int8 safety_mode
int8 safety_event

Response:

bool success

enum.SAFETY_MODE

Num	Name	Description
0	SAFETY_MODE_MANUAL	Manual safety mode
1	SAFETY_MODE_AUTONOMOUS	Autonomous safety mode
2	SAFETY_MODE_RECOVERY	Recovery safety mode
3	SAFETY_MODE_BACKDRIVE	Backdrive safety mode
4	SAFETY_MODE_MEASURE	Measure safety mode
5	SAFETY_MODE_INITIALIZE	Initialize safety mode

enum.SAFETY_MODE_EVENT

Num	Name	Description
0	SAFETY_MODE_EVENT_ENTER	Enter the safety mode
1	SAFETY_MODE_EVENT_MOVE	Move within the safety mode
2	SAFETY_MODE_EVENT_STOP	Stop within the safety mode
3	SAFETY_MODE_EVENT_LAST	Last event (sentinel)

GetCurrentPose

This service is used to check the current position information of each axis of the robot according to the coordinate system (joint space or task space) in the robot controller.

Request:

int8 space_type      # 0: ROBOT_SPACE_JOINT
                     # 1: ROBOT_SPACE_TASK

Response:

float64[6] pos
bool       success

GetLastAlarm

This service is used to check the most recent log and alarm codes generated by the robot controller.

Request:

(None)

Response:

LogAlarm    log_alarm
bool        success

LogAlarm.msg

Parameter Name	Data Type	Default Value	Description
level	int32		refer to enum.LOG_LEVEL
group	int32		refer to enum.LOG_GROUP
index	int32		error code
param	string[]		param(s)

enum.LOG_LEVEL

Num	Name	Description
0	LOG_LEVEL_RESERVED	reserved
1	LOG_LEVEL_SYSINFO	Informational messages about basic functions and operational errors
2	LOG_LEVEL_SYSWARN	Robot is stopped due to a basic function or operation error
3	LOG_LEVEL_SYSERROR	Robot is stopped due to a safety issue or device error

enum.LOG_GROUP

Num	Name	Description
0	LOG_GROUP_RESERVED	reserved
1	LOG_GROUP_SYSTEMFMK	framework
2	eLOG_GROUP_MOTIONLIB	Motion algorithm
3	LOG_GROUP_SMARTTP	TP program (GUI)
4	LOG_GROUP_INVERTER	Robot Inverter Board
5	LOG_GROUP_SAFETYCONTROLLER	Safety Controller

ChangeCollisionSensitivity

This is a function to configure the collision sensitivity in the robot controller.

Request:

int8 sensitivity   # Colision Sensitivity(0~100)

Response:

bool success

GetRobotState

This is a service for checking information on the current operation mode of the robot controller, and the user should transfer the operation state depending on the state using the SetRobotControl service for safety.

Request:

(None)

Response:

int8 robot_state     # 0 : STATE_INITIALIZING
                     # 1 : STATE_STANDBY
                     # 2 : STATE_MOVING
                     # 3 : STATE_SAFE_OFF
                     # 4 : STATE_TEACHING
                     # 5 : STATE_SAFE_STOP
                     # 6 : STATE_EMERGENCY_STOP
                     # 7 : STATE_HOMMING
                     # 8 : STATE_RECOVERY
                     # 9 : eSTATE_SAFE_STOP2
                     # 10: STATE_SAFE_OFF2
                     # 11: STATE_RESERVED1
                     # 12: STATE_RESERVED2
                     # 13: STATE_RESERVED3
                     # 14: STATE_RESERVED4
                     # 15: STATE_NOT_READY
bool        success

enum.ROBOT_STATE

Num	Name	Description
0	STATE_INITIALIZING	Initialization state entered automatically by the T/P application; used to initialize various parameters.
1	STATE_STANDBY	Operable base state; command standby.
2	STATE_MOVING	Command-execution state while the robot is moving; when motion finishes, it returns to command standby automatically.
3	STATE_SAFE_OFF	Robot pause mode caused by functional/operational error; servo-off state (motor and brake power cut after control pause).
4	STATE_TEACHING	Direct teaching state.
5	STATE_SAFE_STOP	Safety stop state caused by functional/operational error; a control pause is executed (temporary program pause in auto mode).
6	STATE_EMERGENCY_STOP	Emergency stop state.
7	STATE_HOMING	Homing mode state (hardware-based home search of the robot).
8	STATE_RECOVERY	Recovery mode to move the robot back into the operation range after errors such as leaving the operation range.
9	STATE_SAFE_STOP2	State indicating recovery is required due to leaving the operation range; equivalent to STATE_SAFE_STOP.
10	STATE_SAFE_OFF2	State indicating recovery is required due to leaving the operation range; equivalent to STATE_SAFE_OFF.
11	STATE_RESERVED1	Reserved.
12	STATE_RESERVED2	Reserved.
13	STATE_RESERVED3	Reserved.
14	STATE_RESERVED4	Reserved.
15	STATE_NOT_READY	Post boot-up pre-initialization state of the robot controller; converted to the initialization state by the T/P application.

ServoOff

This is a service to set the motor and brake power (robot power off) in the robot controller.

Request:

int8 STOP_TYPE_QUICK_STO = 0
int8 STOP_TYPE_QUICK = 1
int8 STOP_TYPE_SLOW = 2
int8 STOP_TYPE_HOLD = 3
int8 STOP_TYPE_EMERGENCY = 3

int8 stop_type

Response:

bool success

enum.STOP_TYPE

Num	Name	Description
0	STOP_TYPE_QUICK_STO	Internal reservation used
1	STOP_TYPE_QUICK	Quick Stop (maintenance of motion trajectory)
2	STOP_TYPE_SLOW	Slow Stop (maintenance of motion trajectory)
3	STOP_TYPE_HOLD	Emergency Stop
	STOP_TYPE_EMERGENCY	Emergency Stop

SetRobotControl

This is a service that the user can set and convert the current operation state in the robot controller.

Request:

int8 robot_control

Response:

bool success

enum.ROBOT_CONTROL

Num	Name	Description
0	CONTROL_INIT_CONFIG	Converts from STATE_NOT_READY to STATE_INITIALIZING ; only the T/P application executes this function.
1	CONTROL_ENABLE_OPERATION	Converts from STATE_INITIALIZING to STATE_STANDBY ; only the T/P application executes this function.
2	CONTROL_RESET_SAFE_STOP	Converts from STATE_SAFE_STOP to STATE_STANDBY In automatic mode, a program restart can be configured.
3	CONTROL_RESET_SAFE_OFF	Converts from STATE_SAFE_OFF to STATE_STANDBY.
4	CONTROL_RECOVERY_SAFE_STOP	S/W-based recovery: converts from STATE_SAFE_STOP2 to STATE_RECOVERY.
5	CONTROL_RECOVERY_SAFE_OFF	S/W-based recovery: converts from STATE_SAFE_OFF2 to STATE_RECOVERY.
6	CONTROL_RECOVERY_BACKDRIVE	H/W-based recovery: converts from STATE_SAFE_OFF2 to STATE_RECOVERY It cannot transition directly to STATE_STANDBY; reboot the robot controller power.
7	CONTROL_RESET_RECOVERY	Converts from STATE_RECOVERY to STATE_STANDBY.