System Control

Start Robot

start_sys()

When the robot is in Emergency Stopped, Powered Off, Powered On, or Stopped status, it accepts this command. After successful execution, the robot transitions to Idle status. When the robot is in other statuses, this command will not execute and will not report an error.

The command has no return value.

WARNING

If the robot's hardware emergency stop is pressed, this command triggers error 1011: Please release the hardware emergency stop switch and try again.

Stop Robot

stop_sys()

When the robot is in Powered On, Idle, Paused, Running, or Teaching status, it accepts this command. After successful execution, the robot transitions to Stopped status. When the robot is in other statuses, this command will not execute and will not report an error.

The command has no return value.

Power Down

powerdown()

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

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

The command has no return value.

Reboot

Restart the control box

reboot()

Return Rail to Zero Position

find_zero()

Stop Motion

WARNING

To be deprecated. Please use cancel_task or stop_move to replace this interface

stop()

Emergency Stop

estop()

Emergency stop is divided into soft emergency stop and hard emergency stop. This API and the emergency stop operated through the App are both soft emergency stops. When the command is executed, it will immediately disconnect and power off the robot arm and brake, at which time the arm will produce a slight downward drop. After the emergency stop, the arm will stop moving, and the flange plate and light panel will stop working. You need to call start_sys() to power on the arm again.

The command has no return value.

If there are other tasks and commands running currently, the emergency stop will cause these commands to be interrupted and report errors, which may further cause related tasks without error handling to fail.