Teach Pendant Control Panel Interface Description

1. Console Interface, Port 29999

The console interface can be used for:
• Loading and running programs • Powering on and releasing brakes • Querying robot status • Setting operating modes

Console Interface

load <program.pro>

Parameter: <program.pro>: Path to the program file

Return value: Success: • "Loading program: <program.pro>"
Failure:
• "File not found: <program.pro>"(File not found)
• "Error while loading program: <program.pro>"(Error while loading program)
<program.pro>: Path to the program file

Interface Function: Load Program

load installation<default.ins>

Parameter: <default.ins>: Path to the configuration file Return value:
Success:
• "Loading installation: <default.ins>"
Failure:
• "File not found: <default.ins>"(File not found) • "Error while loading installation: default.ins>"(Error while loading program) <default.ins>: Path to the program file

Interface Function: Load Program

play

Return value: Success: • "Starting program"
Failure: • "Failed to execute: play"

Interface Function: Run or continue running the program

stop

Return value: Success: • "Stopped"
Failure:
• "Failed to execute: stop"

Interface Function: Stop the program

pause

Return value: Success: • "Pausing program"
Failure:
• "Failed to execute: pause"

Interface Function: Pause the program

quit

Return value: "Disconnected"

Interface Function: Disconnect

shutdown

Return value:"Shutting down"

Interface Function: Power off, shut down the robot

running

Return value:
Running:"Program running: true"
Not running:"Program running: false"

Interface Function: Indicate whether the program is running

robotmode

Return value: "Robotmode: <mode>", <mode>:
No_Controller(aubo_control process has crashed) Disconnected(not connected to the robot arm, or the robot arm's connector cable is disconnected)
ConfirmSafety(performing safety configuration in a powered-off state)
Booting(robot arm is powering on and initializing)
PowerOff(robot arm is powered off)
PowerOn(robot arm is powered on, brakes are still engaged, and initial joint states are not yet acquired)
Idle(robot arm is powered on, brakes are still engaged, motors are not powered, and initial joint states are acquired)
BrakeReleasing(robot arm is powered on, and brakes are being released)
BackDrive(Backdrive: brakes are released, motors are not powered)
Running(robot brakes are released, in running mode, control is handed over from hardware to software)
Maintaince(Maintenance mode: including firmware upgrades, parameter writing, etc.)
Error(mode error)

Interface Function: Returns the current status of the robot

get loaded program

Return value:
Success:"Loaded program: <path to loaded program file>"
Failure:"No program loaded"
<path to loaded program file>: Path of the loaded program file

Interface Function: Retrieve the name of the currently loaded program

popup <popup-text>

Parameter:<popup-text>Content to be displayed in the popup

Return value: "showing popup"

Interface Function: Display a popup window

close popup

Return value: "closing popup"

Interface Function: Close the popup window

addToLog <logmessage>

Parameter: <logmessage> Content to be added to the log

Return value: Success: "Added log message"
Empty message: "No log message to add"

Interface Function: Add information to the log

isProgramSaved

Return value:
Saved: "true <program.pro>"
Not saved:"false <program.pro>"
<program.pro>: Path of the program file

Interface Function: Check if the current program is saved

programState

Return value:
"STOPPED" if no program is running
"PLAYING" if a program is running
"PAUSED" if a program is paused

Interface Function: Returns the current state of the program

scopeVersion

Return value: Version number

Interface Function: Returns the version number of the upper-level software

set operational mode <mode>

Parameter: <mode>:manual(manual mode) automatic (automatic mode)

Return value:
Success: "Setting operational mode: <mode>"
Failure: "Failed setting operational mode: <mode>"
<mode>:manual((manual mode))
automatic( (automatic mode))

Interface Function: Set the operational mode

get operational mode

Return value:
"automatic"( (automatic mode))
"manual"((manual mode))
"disabled"(disabled mode)

Interface Function: Retrieve the current operational mode

clear operational mode

Return value:"operational mode is no longer controlled by Dashboard Server"

Interface Function: Disable the operational mode

power on

Return value:"Powering on"

Interface Function: Power on

power off

Return value:"Powering off"

Interface Function: Engage brakes and power off

brake release

Return value:"Brake releasing"

Interface Function: Release brakes

safetystatus

Return value:"Safetystatus: <status>", <status>:
FAULT(hardware or system failure)
NORMAL(normal operating mode)
PROTECTIVE_STOP(software-triggered stop: maintains trajectory, no brake, no power off)
RECOVERY(entered during startup if outside safety limits)
ROBOT_EMERGENCY_STOP(robot emergency stop: triggered by the control cabinet or teach pendant emergency stop button, outputs emergency-stop signal)
SAFEGUARD_STOP(IO-triggered safeguard stop: does not maintain trajectory, engages brakes, no power off) SYSTEM_EMERGENCY_STOP(system emergency stop: externally triggered, does not output emergency stop signal)
UNDEFINED(safety status is undefined)
VIOLATION(exceeded safety limits based on configuration, e.g., speed limits)

Interface Function: Retrieve the robot's safety status

unlock protective stop

Return value:
Success: • "Protective stop releasing"
Failure:
• "Cannot unlock protective stop"

Interface Function: Release protective stop

close safety popup

Return value:"closing safety popup"

Interface Function: Close safety popup

load installation <default.ins>

Parameters:<default.ins>:Path to installation settings file

Return value:
Success:
• "Loading installation: <default.ins>"
Failure:
• "File not found: <default.ins>"
• "Failed to load installation: <default.ins>"
<default.ins>:Path to installation settings file

Interface Function: Load installation settings file

restart safety

Return value："Restarting safety"

Interface Function: When the robot enters "violation" mode, use this interface to close the safety popup and restart the interface board.

get serial number

Return value:Serial number

Interface Function: Get the robot's serial number

get robot model

Return value:Robot model + robot sub-model

Interface Function: Get the robot's model

generate flight report <report type>

This interface is not implemented.

generate support file <Directory path>

This interface is not implemented.

2. Console Interface Usage Examples

Examples of one-line commands executed in the pc-cmd terminal will connect to the console interface and return results directly at the pc cmd prompt.

Single Command Request:

echo y | plink root@192.168.234.140 -pw bestcobot "{ echo "get robot model"; echo "quit"; } | nc 127.0.0.1 29999"

Multiple Command Requests:

echo y | plink root@192.168.234.140 -pw bestcobot "{ echo "get serial number"; echo "get robot model"; echo "safetystatus"; echo "get operational mode"; echo "quit"; } | nc 127.0.0.1 29999"

If the request involves a more time-consuming task, the users may need to increase the delay between echoes.
If the users wants to write the response directly to a file for later use or record-keeping, they can enter commands as shown in the example below:

echo y | plink root@192.168.234.140 -pw bestcobot "{ echo "get robot model"; echo "quit"; } | nc 127.0.0.1 29999" > my_dbs_response.txt

3. Console Interface Testing

For testing purposes, the users can use a test socket program such as HyperTerminal or similar software. Free software like SocketTest can also be used.
Set a static IP address and subnet mask on the PC to match the robot's settings.
Use the client tab to send commands to the robot.