2.1 Status Codes and Common Types

Float32 / Float64

Header file: include/common.h

Name	Definition
Float32	float
Float64	double

STATUS_CODE

STATUS_CODE is the common SDK return value. This page lists only high-frequency status codes; the complete enum is defined by the SDK headers.

Status Code	Value	Typical Scenario
OK	0	Call succeeded
CONNECTION_TIMEOUT	-3	Network connection timed out
INVALID_IP_ADDRESS	-17	Arm::Connect() / SubPub::Connect() received an invalid IP
FAILED_TO_DOWNLOAD_SAME_NAME_FILE	-21	The target file already exists during download and overwriting=false
FILE_NOTEXIST	-25	Controller file does not exist
INVALID_PARAMETER	-27	Input parameter failed local validation
NOT_FOUND	-28	Target data was not found
LOCAL_PROXY_UNSUPPORTED	-29	Local proxy mode does not support the current input environment
BUFFER_TOO_SMALL	-30	C99 out buffer is too small
NOT_CONNECTED	-35	Connection has not been established or has already been disconnected
SUB_PUB_RECEIVE_TIMEOUT	-37	SubPub::Receive() did not receive a message before timeout
CONTROLLER_ERROR	-254	Controller returned an error
OTHER_ERR	-255	Generic failure fallback

Reading Guidance

• C++17 query APIs usually return std::pair<T, STATUS_CODE>
• When STATUS_CODE != OK , do not continue consuming the data value
• Some APIs return a "failure data value + status code" pair, for example:
  • Info::GetSoftMode() returns SoftModeEnum::UNKNOWN on failure
  • Info::GetOpMode() returns OpModeEnum::UNKNOWN on failure
  • SubPub::Receive() returns an empty Json::Value + SUB_PUB_RECEIVE_TIMEOUT on timeout

RobotType

Header file: include/arm_api.h

Enum	Value	Description
RobotType::UNKNOWN	0	Unrecognized
RobotType::COBOT	1	Collaborative robot
RobotType::PUMA	2	PUMA robot
RobotType::SCARA	3	SCARA robot

Arm::Connect() fills the robotType field after a successful connection. Identification rules:

• Models containing GBT-C are identified as COBOT
• Models containing GBT-S are identified as SCARA
• Other recognized models are classified as PUMA by default

Runtime Status Enums

Header File	Type
include/ctrl_status_enum.h	CtrlStatusEnum
include/robot_status_enum.h	RobotStatusEnum
include/servo_status_enum.h	ServoStatusEnum
include/soft_mode_enum.h	SoftModeEnum
include/op_mode_enum.h	OpModeEnum

These enums are return types of ControllerInfo query APIs. They convert controller status codes into readable states; unrecognized values are mapped to the corresponding UNKNOWN item.

CtrlStatusEnum

Represents the motion-controller runtime state, corresponding to Info::GetCtrlStatus() .

Enum	Value	Description
CtrlStatusEnum::CTRL_INIT	0	Motion controller is initializing
CtrlStatusEnum::CTRL_ENGAGED	1	Motion controller is engaged
CtrlStatusEnum::CTRL_ESTOP	2	Motion controller is in emergency stop
CtrlStatusEnum::CTRL_TERMINATED	3	Motion controller is terminated
CtrlStatusEnum::CTRL_ANY_TO_ESTOP	101	Intermediate state: another state is switching to emergency stop
CtrlStatusEnum::CTRL_ESTOP_TO_ENGAGED	102	Intermediate state: emergency stop is switching to engaged
CtrlStatusEnum::CTRL_ESTOP_TO_TERMINATED	103	Intermediate state: emergency stop is switching to terminated
CtrlStatusEnum::CTRL_UNKNOWN	-1	Unknown state

RobotStatusEnum

Represents the robot body runtime state, corresponding to Info::GetRobotStatus() .

Enum	Value	Description
RobotStatusEnum::ROBOT_IDLE	0	Robot is idle
RobotStatusEnum::ROBOT_RUNNING	1	Robot is running
RobotStatusEnum::ROBOT_TEACHING	2	Robot is in teach mode
RobotStatusEnum::ROBOT_DRAG	3	Robot is in drag mode
RobotStatusEnum::ROBOT_FORCE_DRAG	4	Robot is in force-drag mode
RobotStatusEnum::ROBOT_IDLE_TO_RUNNING	101	Intermediate state: idle is switching to running
RobotStatusEnum::ROBOT_IDLE_TO_TEACHING	102	Intermediate state: idle is switching to teach mode
RobotStatusEnum::ROBOT_RUNNING_TO_IDLE	103	Intermediate state: running is switching to idle
RobotStatusEnum::ROBOT_TEACHING_TO_IDLE	104	Intermediate state: teach mode is switching to idle
RobotStatusEnum::ROBOT_UNKNOWN	-1	Unknown state

ServoStatusEnum

Represents servo status, corresponding to Info::GetServoStatus() .

Enum	Value	Description
ServoStatusEnum::SERVO_IDLE	1	Servo is idle
ServoStatusEnum::SERVO_RUNNING	2	Servo is running
ServoStatusEnum::SERVO_DISABLE	3	Servo is disabled
ServoStatusEnum::SERVO_WAIT_READY	4	Servo is waiting to become ready
ServoStatusEnum::SERVO_WAIT_DOWN	5	Servo is waiting to power down
ServoStatusEnum::SERVO_INIT	10	Servo is initializing
ServoStatusEnum::SERVO_UNKNOWN	-1	Unknown state

SoftModeEnum

Represents controller soft_op_mode , corresponding to Info::GetSoftMode() / Info::SetSoftMode() .

Enum	Value	Description
SoftModeEnum::UNKNOWN	0	Unknown mode
SoftModeEnum::AUTO	1	Automatic mode
SoftModeEnum::MANUAL_LIMIT	2	Manual limited-speed mode
SoftModeEnum::MANUAL	3	Manual mode

OpModeEnum

Represents controller user_op_mode , corresponding to Info::GetOpMode() / Info::SetOpMode() .

Enum	Value	Description
OpModeEnum::UNKNOWN	0	Unknown operation mode
OpModeEnum::AUTO	1	Automatic operation mode
OpModeEnum::MANUAL_LIMIT	2	Manual limited-speed operation mode
OpModeEnum::MANUAL	3	Manual operation mode

LanguageType / RobotAlarm

Header file: include/alarm_types.h

LanguageType

LanguageType selects the language returned by alarm queries and is currently used by Alarm::GetAllActiveAlarms() . The SDK converts the enum into the alarm service's language parameter: Chinese is cn , English is en .

Enum Value	Value	Description
LanguageType::Chinese	0	Request Chinese alarm descriptions
LanguageType::English	1	Request English alarm descriptions

RobotAlarm

RobotAlarm is the alarm detail structure. Alarm::GetAllActiveAlarms() returns std::vector<RobotAlarm> , while Alarm::GetTopAlarm() returns a single RobotAlarm . If there is no active alarm, the string fields in the returned structure are usually empty.

Field	Meaning
user_code	User-side alarm code
inner_code	Controller-side alarm code
name	Alarm name
reason	Reason
suggest	Suggested handling
consequence	Impact
ext_desc	Extended description

SignalType / SignalValue

Header file: include/signal_types.h

SignalType

SignalType distinguishes the IO types currently supported by the SDK. It covers digital signals, group signals, remote-control signals, wrist IO, and analog signals, so Signals can use one unified entry point to express "which IO type to read" and "which IO type to write".

Enum	Value	Type	Description
DI	1	Digital input	Digital Input
DO	2	Digital output	Digital Output
UI	3	Dedicated input	User Input
UO	4	Dedicated output	User Output
RI	5	Remote input	Remote Input
RO	6	Remote output	Remote Output
GI	7	Group input	Group Input
GO	8	Group output	Group Output
TAI	9	Wrist analog input	Tool Analog Input
TDI	10	Wrist digital input	Tool Digital Input
TDO	11	Wrist digital output	Tool Digital Output
AI	12	Analog input	Analog Input
AO	13	Analog output	Analog Output

SDK Usage Scope

• Signals::Read() supports all SignalType values listed above.
• Signals::Write(type, index, int32_t value) supports only DO , RO , GO , and TDO .
• Signals::Write(type, index, Float64 value) supports only AO .
• Signals::MultiRead() / MultiWrite() support only DO .
• Port numbers passed to Signals follow controller-side numbering.

SignalValue

SignalValue provides readable constants for digital writes, so callers do not have to pass raw 0 or 1 values. For example, when writing DO, SignalValue::ON means set and SignalValue::OFF means reset.

Constant	Value	Description
SignalValue::OFF	0	Off, reset, or low level
SignalValue::ON	1	On, set, or high level