Lebai Help

System Control

Start Arm

lebai:start_sys()

First power up and initialize the robot, then enable joint motion

WARNING

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

JSON-RPC
// Request:
{ "jsonrpc": "2.0", "method": "start_sys", "params": [{}], "id": 1 }
// Response:
{ "jsonrpc": "2.0", "result": {}, "id": 1 }

Stop Arm

lebai:stop_sys()

First stop arm motion, then disable joint motion

JSON-RPC
// Request:
{ "jsonrpc": "2.0", "method": "stop_sys", "params": [{}], "id": 1 }
// Response:
{ "jsonrpc": "2.0", "result": {}, "id": 1 }

Power Down

lebai:powerdown()

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

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

JSON-RPC
// Request:
{ "jsonrpc": "2.0", "method": "powerdown", "params": [{}], "id": 1 }
// Response:
{ "jsonrpc": "2.0", "result": {}, "id": 1 }

Reboot

lebai:reboot()

Restart the chassis

JSON-RPC
// Request:
{ "jsonrpc": "2.0", "method": "reboot", "params": [{}], "id": 1 }
// Response:
{ "jsonrpc": "2.0", "result": {}, "id": 1 }

Track Return to Zero

lebai:find_zero()
JSON-RPC
// Request:
{ "jsonrpc": "2.0", "method": "find_zero", "params": [{}], "id": 1 }
// Response:
{ "jsonrpc": "2.0", "result": {}, "id": 1 }

Stop Motion

WARNING

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

lebai:stop()
JSON-RPC
// Request:
{ "jsonrpc": "2.0", "method": "stop", "params": [{}], "id": 1 }
// Response:
{ "jsonrpc": "2.0", "result": {}, "id": 1 }

Emergency Stop

lebai:estop()

Emergency stops are divided into soft and hardware emergency stops. This API and emergency stops through the App are soft emergency stops. When executed, the command will immediately disconnect power to the robot arm and brake, causing the arm to slightly drop downward. After emergency stop, the arm will stop moving, the flange plate and light panel will stop working, and start_sys() must be called to power up the arm again.

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

JSON-RPC
// Request:
{ "jsonrpc": "2.0", "method": "estop", "params": [{}], "id": 1 }
// Response:
{ "jsonrpc": "2.0", "result": {}, "id": 1 }