Robot Mode and Safety Mode
1 Robot mode
| Name | Description |
|---|---|
| No controller | Currently not connected to controller. |
| Not connected | Not connected to robot arm body. |
| Safety confirmed | Robot is performing safety configuration. |
| Power off | Robot arm body is in power-off status. |
| Powering on | Robot arm body is being powered on and initialized. |
| Power on | Robot arm body is successfully powered on, brake is locked, and the initial state of joint is not acquired. |
| Idle | Robot arm body is successfully powered on, brake is locked, motor is not powered, and the initial state of joint has been acquired. |
| Brake release | Robot arm body is successfully powered on, and brake is being released. |
| Operation | Robot arm body is successfully powered on, brake is released, and the software can control robot arm normally. |
| Powering off | Robot arm body is currently being powered off. |
| Reverse drive | Robot arm body is powered on, brake is released, and motor is not powered. Users can manually drag robot arm to a designated position, but robot arm cannot maintain position/pose. |
| Maintenance | Robot is in maintenance mode, such as firmware upgrade, parameter writing, etc. |
| HandGuide | Robot is in HandGuide mode. |
2. Safety mode
| Name | Description |
|---|---|
| Undefined | Robot has not obtained safety mode or has not obtained the correct safety mode. |
| Normal | Robot is in normal operating status and users can operate robot normally. |
| Safe stop | Robot is in a stop state triggered by safety I/O. At this time, robot arm does not maintain the track, brake is applied, and power is not off. |
| Protective stop | Robot is in a software-triggered stop state. At this time, robot arm maintains the track, brake is not applied, and power is not off. |
| Reduced mode | Robot is in reduced operation mode. For reduced parameters, please refer to "Configuration > Safety > Joint limit". |
| Recovery mode | Robot is in recovery mode. When robot arm is in an over-limit position, it enters recovery mode when it is powered on again. Exit this mode by dragging robot arm within the safety limit range. |
| Over-limit | Robot is in an over-limit state. The current robot arm speed or other safety parameters exceed the settings of safety configuration. |
| System emergency stop | Robot is in system emergency stop state. |
| Robot emergency stop | Robot is in robot emergency stop state. |
| Fault | Robot is in fault state. |
Situations that trigger emergency stop
| Safety mode | Trigger conditions | I/O status |
|---|---|---|
| Robot emergency stop | Teach pendant emergency stop button, control box emergency stop button, fixed emergency stop input | Internal emergency stop |
| System emergency stop | Safety input - Emergency stop | External emergency stop |