Analysis Of The Motion Status Of The Robotic Arm - UFactory xArm6 User Manual

● Mode 4: Cartesian teaching mode,(not yet available).

2.1.3 Analysis of the Motion Status of the Robotic Arm

3 states that the control box can set: (Python SDK: set_state () )
● State 0: Start motion.
Can be understood as ready for motion or stand-by. In this state, the
robotic arm can normally respond to and execute motion commands. If the
robotic arm recovers from an error, power outage, or stop state (state 4),
remember to set the state to 0 before continuing to send motion commands.
Otherwise the commands sent will be discarded.
● State 3: Paused state.
Pause the currently executing motion and resume the motion at the
interruption by setting state 0 again.
● State 4: Stop state.
Terminates the current motion and clears the cached subsequent
commands. Need to set state 0 to continue the motion.
4 states that the control box can get: (Python SDK: get_state ())
● State 1: In motion.
The robotic arm is executing motion commands and is not stationary.
● State 2: Standby.
The control box is already in motion ready state, but no motion commands
are cached for execution.
● State 3: Pausing.
The robotic arm is set to pause state, and the motion commands buffer
may not be empty.
● State 4: Stopping.
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