Lebai Help

System Control

Start Robot

When the robot is in E-Stop, Powered Off, Powered On, or Stopped state, this command is accepted and executed. After successful execution, the robot transitions to Idle state. When the robot is in other states, this command will not execute and will not report an error.

WARNING

If the hardware emergency stop is pressed, this command triggers error 1011: Please release the hardware emergency stop and retry.

  • Function: start_sys from the lua module
  • Parameters: none
  • Returns: [bool] Whether executed successfully

Example

start_sys()

Stop Robot

When the robot is in Powered On, Idle, Paused, Running, or Teaching state, this command is accepted and executed. After successful execution, the robot transitions to Stopped state. When the robot is in other states, this command will not execute and will not report an error.

  • Function: stop_sys from the lua module
  • Parameters: none
  • Returns: [bool] Whether executed successfully

Example

stop_sys()

Power Down

This command can be executed in any connected state. It disconnects power to the robot arm and control box, and also disconnects the network connection.

To restart after powering off, press the hardware power button. If the power-on module is installed, disconnect and reconnect the power supply.

  • Function: powerdown from the lua module
  • Parameters: none
  • Returns: [bool] Whether executed successfully

Example

powerdown()

Reboot

Restarts the control box.

  • Function: reboot from the lua module
  • Parameters: none
  • Returns: [bool] Whether executed successfully

Example

reboot()

Find Zero

  • Function: find_zero from the lua module
  • Parameters: none
  • Returns: [bool] Whether executed successfully

Example

find_zero()

Stop Motion

WARNING

Equivalent to executing cancel_task followed by stop_move.

  • Function: stop from the lua module
  • Parameters: none
  • Returns: [bool] Whether executed successfully

Example

stop()

Emergency Stop

Emergency stop is divided into soft emergency stop and hard emergency stop. This API and the emergency stop operated through the App are soft emergency stops. When the command is executed, it immediately disconnects power to the robot arm and brakes. At this time, the arm will slightly drop downward. After emergency stop, the arm will stop moving, the flange and LED board will stop working. You must call start_sys() to re-enable the arm.

If other tasks and commands are currently running, the emergency stop will interrupt and cause errors in those commands, which will further cause related tasks without error handling to fail.

  • Function: estop from the lua module
  • Parameters: none
  • Returns: [bool] Whether executed successfully

Example

estop()