3.2 ControllerInfo Class

Overview

ControllerInfo handles basic controller status queries and a small set of basic controls, including version, controller status, robot status, servo status, soft mode, user operation mode, and host-side access keepalive.

Prerequisites

All ControllerInfo APIs require Arm::Connect() to succeed first. If the interface module is not bound:

Query APIs return an empty string or UNKNOWN , with status code OTHER_ERR .
Control APIs usually return OTHER_ERR .
AcquireAccess() / ReleaseAccess() do not have a status code; when not connected, they return directly.

3.2.1 Query APIs

3.2.1.1 Get Robot Controller Version

cpp

GetControllerVersion() -> std::pair<std::string, STATUS_CODE>

Item	Description
Description	Gets the current Agilebot robot controller version
Request Parameters	None
Return Value	std::string: controller version STATUS_CODE: function execution result
Notes	`Arm::Connect()` also reads this version internally and fills `arm.version`
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.2.1.2 Get Current Controller Running Status

cpp

GetCtrlStatus() -> std::pair<CtrlStatusEnum, STATUS_CODE>

Item	Description
Description	Gets the current Agilebot robot controller running status
Request Parameters	None
Return Value	CtrlStatusEnum: controller running status STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.2.1.3 Get Robot Running Status

cpp

GetRobotStatus() -> std::pair<RobotStatusEnum, STATUS_CODE>

Item	Description
Description	Gets the Agilebot robot running status
Request Parameters	None
Return Value	RobotStatusEnum: robot running status STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.2.1.4 Get Current Servo Controller Status

cpp

GetServoStatus() -> std::pair<ServoStatusEnum, STATUS_CODE>

Item	Description
Description	Gets the current Agilebot robot servo controller status
Request Parameters	None
Return Value	ServoStatusEnum: servo controller status STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.2.1.5 Get Current Robot Model

cpp

GetArmModelInfo() -> std::pair<std::string, STATUS_CODE>

Item	Description
Description	Gets the current robot model information
Request Parameters	None
Return Value	std::string: robot model, such as `"GBT-C5A"` STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.2.1.6 Get Current Robot Soft Mode

cpp

GetSoftMode() -> std::pair<SoftModeEnum, STATUS_CODE>

Item	Description
Description	Gets the current robot soft mode, namely the manual/auto state in PC mode
Request Parameters	None
Return Value	SoftModeEnum: soft mode STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.2.1.7 Get Robot Operation Mode

cpp

GetOpMode() -> std::pair<OpModeEnum, STATUS_CODE>

Item	Description
Description	Gets the current robot operation mode, such as manual/auto operation permission state for a robot or virtual controller
Request Parameters	None
Return Value	OpModeEnum: operation mode STATUS_CODE: function execution result
Notes	If the controller does not return a valid mode, the value falls back to `OpModeEnum::UNKNOWN`
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.2.2 Control APIs

3.2.2.1 Robot Servo On

cpp

ServoOn() -> STATUS_CODE

Item	Description
Description	Turns on servo power for the Agilebot robot
Request Parameters	None
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.2.2.2 Robot Servo Off

cpp

ServoOff() -> STATUS_CODE

Item	Description
Description	Turns off servo power for the Agilebot robot
Request Parameters	None
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.2.2.3 Robot Servo Reset

cpp

ServoReset() -> STATUS_CODE

Item	Description
Description	Resets the Agilebot robot servo
Request Parameters	None
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.2.2.4 Set Current Robot Soft Mode

cpp

SetSoftMode(SoftModeEnum mode) -> STATUS_CODE

Item	Description
Description	Sets the current robot soft mode, namely the manual/auto state in PC mode
Request Parameters	`mode` : SoftModeEnum soft-mode value
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.2.2.5 Set Robot Operation Mode

cpp

SetOpMode(OpModeEnum mode) -> STATUS_CODE

Item	Description
Description	Sets the robot operation mode. Only virtual robots / simulation controllers are supported
Request Parameters	`mode` : OpModeEnum target operation mode. It must not be `UNKNOWN`
Return Value	STATUS_CODE: function execution result
Notes	If `OpModeEnum::UNKNOWN` is passed, the API returns `UNSUPPORTED_PARAMETER`
Compatible Robot Software Versions	Collaborative (Copper): simulation only; Industrial (Bronze): simulation only

3.2.2.6 Set Robot LED Indicator

cpp

SwitchLedLight(bool mode) -> STATUS_CODE

Item	Description
Description	Controls the Agilebot robot LED indicator
Request Parameters	`mode` : bool indicator state. `true` turns it on, `false` turns it off
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.1.3+ Industrial (Bronze): Not supported

3.2.2.7 Robot Emergency Stop

cpp

Estop() -> STATUS_CODE

Item	Description
Description	Emergency-stops the Agilebot robot
Request Parameters	None
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.2.3 Access Control APIs

3.2.3.1 Host Acquires Operation Access

cpp

AcquireAccess()

Item	Description
Description	The host acquires operation access and puts the robot into PC mode. The SDK periodically sends keepalive messages to the controller
Request Parameters	None
Return Value	No return value
Behavior	- Returns directly when not connected - Executes `ReleaseAccess()` before each call to avoid registering duplicates - Registers a `2000ms` keepalive timer task on the dedicated `Arm` network thread
Notes	Only industrial robots need this API to keep PC mode active. Collaborative robots and P7A do not need it
Compatible Robot Software Versions	Collaborative (Copper): Not supported Industrial (Bronze): v7.5.0.0+

3.2.3.2 Host Returns Operation Access

cpp

ReleaseAccess()

Item	Description
Description	The host returns operation access, exits PC mode, and stops the keepalive timer task registered by `AcquireAccess()`
Request Parameters	None
Return Value	No return value
Behavior	- Cancels the keepalive timer task in the current session - `Arm::Disconnect()` , `Info::Reset()` , and destruction also call it actively
Notes	Only industrial robots need this API
Compatible Robot Software Versions	Collaborative (Copper): Not supported Industrial (Bronze): v7.5.0.0+

Common Return Semantics

Scenario	Return
Query API called while not connected	`OTHER_ERR` , with the data value falling back to an empty string or `UNKNOWN`
Control API called while not connected	`OTHER_ERR`
`AcquireAccess` / `ReleaseAccess` called while not connected	Returns directly, with no additional error code

Call Recommendations

After connecting, call GetControllerVersion() and GetArmModelInfo() first for device identification.
Read a mode before writing it to avoid blind writes.
AcquireAccess() is commonly used for PUMA / industrial robot PC-mode keepalive scenarios; collaborative robots usually do not need it.

Minimal Call Example

cpp

#include <iostream>      // Standard output stream for printing query results
#include "arm_api.h"    // Arm entry point; after connection, information APIs are accessed through arm.controllerInfo
#include "status_code.h" // STATUS_CODE for checking SDK call results

int main()
{
    Arm arm;
    STATUS_CODE connectRet = arm.Connect("192.168.110.2", "");
    if (connectRet != STATUS_CODE::OK) {
        return 1;
    }

    auto [version, versionRet] = arm.controllerInfo.GetControllerVersion();
    auto [servoStatus, servoRet] = arm.controllerInfo.GetServoStatus();
    auto [softMode, softModeRet] = arm.controllerInfo.GetSoftMode();
    auto [opMode, opModeRet] = arm.controllerInfo.GetOpMode();
    if (versionRet != STATUS_CODE::OK ||
        servoRet != STATUS_CODE::OK ||
        softModeRet != STATUS_CODE::OK ||
        opModeRet != STATUS_CODE::OK) {
        return 1;
    }

    std::cout << "version=" << version << "\n";
    std::cout << "servo_status=" << static_cast<int>(servoStatus) << "\n";
    std::cout << "soft_mode=" << static_cast<int>(softMode) << "\n";
    std::cout << "op_mode=" << static_cast<int>(opMode) << "\n";
    arm.controllerInfo.AcquireAccess();
    arm.controllerInfo.ReleaseAccess();
    return 0;
}

Scenario Examples

The snippets below cover read-only status, mode setting, robot actions, and PC access. They assume the arm object from the minimal example is already connected. Calls that change robot state remain commented out; run them only after checking the site.

Read Version, Model, and Status

cpp

auto [version, versionRet] = arm.controllerInfo.GetControllerVersion();
auto [model, modelRet] = arm.controllerInfo.GetArmModelInfo();
auto [ctrlStatus, ctrlRet] = arm.controllerInfo.GetCtrlStatus();
auto [robotStatus, robotRet] = arm.controllerInfo.GetRobotStatus();
auto [servoStatus, servoRet] = arm.controllerInfo.GetServoStatus();
if (versionRet == STATUS_CODE::OK && modelRet == STATUS_CODE::OK && ctrlRet == STATUS_CODE::OK && robotRet == STATUS_CODE::OK && servoRet == STATUS_CODE::OK) {
    std::cout << "version=" << version << " model=" << model << "\n";
    std::cout << "ctrl=" << static_cast<int>(ctrlStatus) << " robot=" << static_cast<int>(robotStatus) << " servo=" << static_cast<int>(servoStatus) << "\n";
}

Read and Set Modes

cpp

auto [softMode, softRet] = arm.controllerInfo.GetSoftMode();
auto [opMode, opRet] = arm.controllerInfo.GetOpMode();
if (softRet == STATUS_CODE::OK && opRet == STATUS_CODE::OK) {
    std::cout << "soft=" << static_cast<int>(softMode) << " op=" << static_cast<int>(opMode) << "\n";
}
// STATUS_CODE setSoftRet = arm.controllerInfo.SetSoftMode(softMode);
// STATUS_CODE setOpRet = arm.controllerInfo.SetOpMode(opMode);

Servo, LED, and Emergency Stop Actions

cpp

// STATUS_CODE servoOnRet = arm.controllerInfo.ServoOn();
// STATUS_CODE servoOffRet = arm.controllerInfo.ServoOff();
// STATUS_CODE resetRet = arm.controllerInfo.ServoReset();
// STATUS_CODE ledRet = arm.controllerInfo.SwitchLedLight(true);
// STATUS_CODE estopRet = arm.controllerInfo.Estop();

Industrial Robot PC Access

cpp

// arm.controllerInfo.AcquireAccess();
// arm.controllerInfo.ReleaseAccess();

Example code:

cpp17/info_get_controller_version/src/query_version_and_model/run.cpp

cpp

#include <iostream>
#include "arm_api.h"
#include "status_code.h"

#include "query_version_and_model/run.h"

/**
 * 查询版本与型号门面。
 * @return 0 表示成功，否则返回 1。
 */
int RunInfoGetControllerVersionQueryVersionAndModel(void)
{
    // [ZH] 连接机器人，请直接修改下面的魔鬼字符串。
    // [EN] Connect to the robot and edit the hard-coded magic strings below directly.
    Arm arm;
    STATUS_CODE connectRet = arm.Connect("10.27.1.2", "10.27.1.102");
    if (connectRet != STATUS_CODE::OK) {
        std::cerr << "[cpp17_info_basic] 连接机器人失败 / Connect to the robot failed, 状态码 / Status code: "
                  << static_cast<int>(connectRet) << "\n";
        return 1;
    }
    std::cout << "[cpp17_info_basic] 机器人连接成功 / Robot connected successfully\n";
    // [ZH] 获取控制器版本和机械臂型号。
    // [EN] Get the controller version and robot model.
    std::pair<std::string, STATUS_CODE> versionPair = arm.controllerInfo.GetControllerVersion();
    std::pair<std::string, STATUS_CODE> modelPair = arm.controllerInfo.GetArmModelInfo();
    std::cout << "[cpp17_info_basic] GetControllerVersion 状态码 / GetControllerVersion status code: "
              << static_cast<int>(versionPair.second)
              << ", 版本 / Version: " << versionPair.first << "\n";
    std::cout << "[cpp17_info_basic] GetArmModelInfo 状态码 / GetArmModelInfo status code: "
              << static_cast<int>(modelPair.second)
              << ", 型号 / Model: " << modelPair.first << "\n";

    // [ZH] 断开连接，结束示例。
    // [EN] Disconnect and finish the example.
    arm.Disconnect();
    std::cout << "[cpp17_info_basic] 示例结束 / Example finished\n";
    return 0;
}

cpp17/info_state_modes/src/query_state_modes/run.cpp

cpp

#include <iostream>
#include "arm_api.h"
#include "status_code.h"

#include "query_state_modes/run.h"

/**
 * 查询状态与模式门面。
 * @return 0 表示成功，否则返回 1。
 */
int RunInfoStateModesQueryStateModes(void)
{
    // [ZH] 连接机器人，请直接修改下面的魔鬼字符串。
    // [EN] Connect to the robot and edit the hard-coded magic strings below directly.
    Arm arm;
    STATUS_CODE connectRet = arm.Connect("10.27.1.2", "10.27.1.102");
    if (connectRet != STATUS_CODE::OK) {
        std::cerr << "[cpp17_arm_state] 连接机器人失败 / Connect to the robot failed, 状态码 / Status code: "
                  << static_cast<int>(connectRet) << "\n";
        return 1;
    }
    std::cout << "[cpp17_arm_state] 机器人连接成功 / Robot connected successfully\n";
    // [ZH] 获取伺服状态、软模式和操作模式。
    // [EN] Get the servo status, soft mode, and operation mode.
    std::pair<ServoStatusEnum, STATUS_CODE> servoPair = arm.controllerInfo.GetServoStatus();
    std::pair<SoftModeEnum, STATUS_CODE> softPair = arm.controllerInfo.GetSoftMode();
    std::pair<OpModeEnum, STATUS_CODE> opPair = arm.controllerInfo.GetOpMode();
    std::cout << "[cpp17_arm_state] GetServoStatus 状态码 / GetServoStatus status code: "
              << static_cast<int>(servoPair.second)
              << ", 伺服状态 / Servo status: " << static_cast<int>(servoPair.first) << "\n";
    std::cout << "[cpp17_arm_state] GetSoftMode 状态码 / GetSoftMode status code: "
              << static_cast<int>(softPair.second)
              << ", 软模式 / Soft mode: " << static_cast<int>(softPair.first) << "\n";
    std::cout << "[cpp17_arm_state] GetOpMode 状态码 / GetOpMode status code: "
              << static_cast<int>(opPair.second)
              << ", 操作模式 / Operation mode: " << static_cast<int>(opPair.first) << "\n";

    // [ZH] 断开连接，结束示例。
    // [EN] Disconnect and finish the example.
    arm.Disconnect();
    std::cout << "[cpp17_arm_state] 示例结束 / Example finished\n";
    return 0;
}

cpp17/info_state_modes/src/write_back_modes/run.cpp

cpp

#include <iostream>
#include "arm_api.h"
#include "status_code.h"

#include "write_back_modes/run.h"

/**
 * 写回软模式与操作模式门面。
 * @return 0 表示成功，否则返回 1。
 */
int RunInfoStateModesWriteBackModes(void)
{
    // [ZH] 连接机器人，请直接修改下面的魔鬼字符串。
    // [EN] Connect to the robot and edit the hard-coded magic strings below directly.
    Arm arm;
    STATUS_CODE connectRet = arm.Connect("10.27.1.2", "10.27.1.102");
    if (connectRet != STATUS_CODE::OK) {
        std::cerr << "[cpp17_arm_state] 连接机器人失败 / Connect to the robot failed, 状态码 / Status code: "
                  << static_cast<int>(connectRet) << "\n";
        return 1;
    }
    std::cout << "[cpp17_arm_state] 机器人连接成功 / Robot connected successfully\n";
    // [ZH] 读取并写回软模式与操作模式。
    // [EN] Read and write back the soft mode and operation mode.
    std::pair<SoftModeEnum, STATUS_CODE> softPair = arm.controllerInfo.GetSoftMode();
    std::pair<OpModeEnum, STATUS_CODE> opPair = arm.controllerInfo.GetOpMode();
    STATUS_CODE setSoftRet = arm.controllerInfo.SetSoftMode(softPair.first);
    STATUS_CODE setOpRet = arm.controllerInfo.SetOpMode(opPair.first);
    std::cout << "[cpp17_arm_state] SetSoftMode 状态码 / SetSoftMode status code: "
              << static_cast<int>(setSoftRet) << "\n";
    std::cout << "[cpp17_arm_state] SetOpMode 状态码 / SetOpMode status code: "
              << static_cast<int>(setOpRet) << "\n";

    // [ZH] 断开连接，结束示例。
    // [EN] Disconnect and finish the example.
    arm.Disconnect();
    std::cout << "[cpp17_arm_state] 示例结束 / Example finished\n";
    return 0;
}

cpp17/info_state_modes/src/access_control/run.cpp

cpp

#include <iostream>
#include "arm_api.h"
#include "status_code.h"

#include "access_control/run.h"

/**
 * 获取和归还控制权门面。
 * @return 0 表示成功，否则返回 1。
 */
int RunInfoStateModesAccessControl(void)
{
    // [ZH] 连接机器人，请直接修改下面的魔鬼字符串。
    // [EN] Connect to the robot and edit the hard-coded magic strings below directly.
    Arm arm;
    STATUS_CODE connectRet = arm.Connect("10.27.1.2", "10.27.1.102");
    if (connectRet != STATUS_CODE::OK) {
        std::cerr << "[cpp17_arm_state] 连接机器人失败 / Connect to the robot failed, 状态码 / Status code: "
                  << static_cast<int>(connectRet) << "\n";
        return 1;
    }
    std::cout << "[cpp17_arm_state] 机器人连接成功 / Robot connected successfully\n";
    // [ZH] 获取并归还 SDK 控制权。
    // [EN] Acquire and release the SDK access token.
    arm.controllerInfo.AcquireAccess();
    std::cout << "[cpp17_arm_state] 已获取控制权 / SDK access acquired\n";
    arm.controllerInfo.ReleaseAccess();
    std::cout << "[cpp17_arm_state] 已归还控制权 / SDK access released\n";

    // [ZH] 断开连接，结束示例。
    // [EN] Disconnect and finish the example.
    arm.Disconnect();
    std::cout << "[cpp17_arm_state] 示例结束 / Example finished\n";
    return 0;
}

cpp17/info_state_modes/src/action_apis/run.cpp

cpp

#include <iostream>
#include "arm_api.h"
#include "status_code.h"

#include "action_apis/run.h"

/**
 * 动作接口门面。
 * @return 0 表示成功，否则返回 1。
 */
int RunInfoStateModesActionApis(void)
{
    // [ZH] 连接机器人，请直接修改下面的魔鬼字符串。
    // [EN] Connect to the robot and edit the hard-coded magic strings below directly.
    Arm arm;
    STATUS_CODE connectRet = arm.Connect("10.27.1.2", "10.27.1.102");
    if (connectRet != STATUS_CODE::OK) {
        std::cerr << "[cpp17_arm_state] 连接机器人失败 / Connect to the robot failed, 状态码 / Status code: "
                  << static_cast<int>(connectRet) << "\n";
        return 1;
    }
    std::cout << "[cpp17_arm_state] 机器人连接成功 / Robot connected successfully\n";
    // [ZH] 顺序执行全部动作接口。
    // [EN] Execute all action APIs in sequence.
    STATUS_CODE servoOnRet = arm.controllerInfo.ServoOn();
    STATUS_CODE servoOffRet = arm.controllerInfo.ServoOff();
    STATUS_CODE ledRet = arm.controllerInfo.SwitchLedLight(true);
    STATUS_CODE resetRet = arm.controllerInfo.ServoReset();
    STATUS_CODE estopRet = arm.controllerInfo.Estop();
    std::cout << "[cpp17_arm_state] ServoOn 状态码 / ServoOn status code: "
              << static_cast<int>(servoOnRet) << "\n";
    std::cout << "[cpp17_arm_state] ServoOff 状态码 / ServoOff status code: "
              << static_cast<int>(servoOffRet) << "\n";
    std::cout << "[cpp17_arm_state] SwitchLedLight 状态码 / SwitchLedLight status code: "
              << static_cast<int>(ledRet) << "\n";
    std::cout << "[cpp17_arm_state] ServoReset 状态码 / ServoReset status code: "
              << static_cast<int>(resetRet) << "\n";
    std::cout << "[cpp17_arm_state] Estop 状态码 / Estop status code: "
              << static_cast<int>(estopRet) << "\n";

    // [ZH] 断开连接，结束示例。
    // [EN] Disconnect and finish the example.
    arm.Disconnect();
    std::cout << "[cpp17_arm_state] 示例结束 / Example finished\n";
    return 0;
}

1 Overview and Setup

2 Data Structures

3 Methods

4 C99 API

6 Other Language Integration

3.2 ControllerInfo Class

Overview

Prerequisites

3.2.1 Query APIs

3.2.1.1 Get Robot Controller Version

3.2.1.2 Get Current Controller Running Status

3.2.1.3 Get Robot Running Status

3.2.1.4 Get Current Servo Controller Status

3.2.1.5 Get Current Robot Model

3.2.1.6 Get Current Robot Soft Mode

3.2.1.7 Get Robot Operation Mode

3.2.2 Control APIs

3.2.2.1 Robot Servo On

3.2.2.2 Robot Servo Off

3.2.2.3 Robot Servo Reset

3.2.2.4 Set Current Robot Soft Mode

3.2.2.5 Set Robot Operation Mode

3.2.2.6 Set Robot LED Indicator

3.2.2.7 Robot Emergency Stop

3.2.3 Access Control APIs

3.2.3.1 Host Acquires Operation Access

3.2.3.2 Host Returns Operation Access

Common Return Semantics

Call Recommendations

Minimal Call Example

Scenario Examples

Read Version, Model, and Status

Read and Set Modes

Servo, LED, and Emergency Stop Actions

Industrial Robot PC Access

3.2 ControllerInfo Class ​

Overview ​

Prerequisites ​

3.2.1 Query APIs ​

3.2.1.1 Get Robot Controller Version ​

3.2.1.2 Get Current Controller Running Status ​

3.2.1.3 Get Robot Running Status ​

3.2.1.4 Get Current Servo Controller Status ​

3.2.1.5 Get Current Robot Model ​

3.2.1.6 Get Current Robot Soft Mode ​

3.2.1.7 Get Robot Operation Mode ​

3.2.2 Control APIs ​

3.2.2.1 Robot Servo On ​

3.2.2.2 Robot Servo Off ​

3.2.2.3 Robot Servo Reset ​

3.2.2.4 Set Current Robot Soft Mode ​

3.2.2.5 Set Robot Operation Mode ​

3.2.2.6 Set Robot LED Indicator ​

3.2.2.7 Robot Emergency Stop ​

3.2.3 Access Control APIs ​

3.2.3.1 Host Acquires Operation Access ​

3.2.3.2 Host Returns Operation Access ​

Common Return Semantics ​

Call Recommendations ​

Minimal Call Example ​

Scenario Examples ​

Read Version, Model, and Status ​

Read and Set Modes ​

Servo, LED, and Emergency Stop Actions ​

Industrial Robot PC Access ​

3.2 ControllerInfo Class

Overview

Prerequisites

3.2.1 Query APIs

3.2.1.1 Get Robot Controller Version

3.2.1.2 Get Current Controller Running Status

3.2.1.3 Get Robot Running Status

3.2.1.4 Get Current Servo Controller Status

3.2.1.5 Get Current Robot Model

3.2.1.6 Get Current Robot Soft Mode

3.2.1.7 Get Robot Operation Mode

3.2.2 Control APIs

3.2.2.1 Robot Servo On

3.2.2.2 Robot Servo Off

3.2.2.3 Robot Servo Reset

3.2.2.4 Set Current Robot Soft Mode

3.2.2.5 Set Robot Operation Mode

3.2.2.6 Set Robot LED Indicator

3.2.2.7 Robot Emergency Stop

3.2.3 Access Control APIs

3.2.3.1 Host Acquires Operation Access

3.2.3.2 Host Returns Operation Access

Common Return Semantics

Call Recommendations

Minimal Call Example

Scenario Examples

Read Version, Model, and Status

Read and Set Modes

Servo, LED, and Emergency Stop Actions

Industrial Robot PC Access