Namespace: CONTROLLER

The API.CONTROLLER class provides a set of interfaces for managing and monitoring the robot controller's motor status, operation modes,and other. It includes methods for subscribing to motor status, retrieving the current state or operation mode, and performing actions such as setting motor states or restarting the controller. This class serves as a high-level abstraction for interacting with the robot controller.

Source: ecosystem-base.js, line 487

Members

(readonly) OPMODE :string

Type:

string

Properties

Name	Type	Description
`Auto`	enum	Auto mode
`Manual`	enum	Manual mode
`ManualR`	enum	Manual reduce speed mode
`ManualFull`	enum	Manual full speed mode
`Auto`	string
`Manual`	string
`ManualR`	string
`ManualFull`	string

Source: ecosystem-base.js, line 528

(readonly) STATE :string

Type:

string

Properties

Name	Type	Description
`Init`	enum	The controller is starting up.
`MotorsOn`	enum	Motor on state.
`MotorsOff`	enum	Motor off state.
`GuardStopS`	enum	Stopped due to safety reasons.
`EStop`	enum	Emergency stop state.
`EStopR`	enum	Emergency stop state resetting.
`SysFailure`	enum	System failure.
`Init`	string
`MotorsOn`	string
`MotorsOff`	string
`GuardStop`	string
`EStop`	string
`EStopR`	string
`SysFailure`	string

Source: ecosystem-base.js, line 501

(readonly) STATE :string

Type:

string

Properties

Name	Type	Description
`IRB14050`	string
`IRB1100`	string
`IRB910`	string
`CRB1100`	string
`CRB15000`	string
`IRB1300`	string
`CRB1300`	string

Source: ecosystem-base.js, line 541

ctrlState

Properties

Name	Type	Description
`ctrlState`	string	The current state of the controller. This property is available only after calling API.CONTROLLER.monitorController().

Source: ecosystem-base.js, line 681

isAuto

Properties

Name	Type	Description
`isAuto`	boolean	Value "true" indicates that the operation mode is Auto mode. In other cases, the value is "false". This property is available only after calling API.CONTROLLER.monitorController()

Source: ecosystem-base.js, line 634

isManual

Properties

Name	Type	Description
`isManual`	boolean	true if operation mode is manual reduced speed mode, false otherwiseValue "true" indicates that the operation mode is manual reduce. In other cases, the value is "false". This property is available only after calling API.CONTROLLER.monitorController()

Source: ecosystem-base.js, line 626

isMotOn

Properties

Name	Type	Description
`isMotOn`	boolean	Value "true" indicates that motors are on. In other cases, the value is "false". This property is available only after calling API.CONTROLLER.monitorController().

Source: ecosystem-base.js, line 688

opMode

Properties

Name	Type	Description
`opMode`	boolean	Stores the operation mode. This property is available only after calling API.CONTROLLER.monitorController()

Source: ecosystem-base.js, line 619

Methods

checkIfMotorIsOn() → {Promise.<boolean>}

Check whether motor is on

Source: ecosystem-base.js, line 842

Returns:

A promise with a boolean containing if motor is in on status.

Type:: Promise.<boolean>

Example

let motorStatus = await API.CONTROLLER.checkIfMotorIsOn()

getControllerState() → {Promise.<RWS.Controller.ControllerStates>}

Gets the controller state. Possible states are:
'initializing' the controller is starting up
'motors_on' motors on state
'motors_off' motors off state
'guard_stop' stopped due to safety
'emergency_stop' emergency stop state
'emergency_stop_resetting' emergency stop state resetting
'system_failure' system failure state

Source: ecosystem-base.js, line 828

Returns:

A promise with a string containing the controller state.

Type:: Promise.<RWS.Controller.ControllerStates>

Example

let controllerState = await API.CONTROLLER.getControllerState()

getLanguage() → {Promise.<string>}

Gets the current language

Source: ecosystem-base.js, line 911

Returns:

Type:: Promise.<string>

Example

await API.CONTROLLER.getLanguage()

getOperationMode() → {Promise.<RWS.Controller.OperationModes>}

Gets the operation mode. Possible modes are:
'initializing' controller is starting up, but not yet ready
'automatic_changing' automatic mode requested
'manual_full_changing' manual full speed mode requested
'manual_reduced' manual reduced speed mode
'manual_full' manual full speed mode
'automatic' automatic mode
'undefined' undefined

Source: ecosystem-base.js, line 807

Returns:

A promise with a string containing the operation mode.

Type:: Promise.<RWS.Controller.OperationModes>

Example

let opMode = await API.CONTROLLER.getOperationMode()

getRobotType() → {Promise.<string>}

Gets the robot type. For example, CRB 15000-5/0.95.

Source: ecosystem-base.js, line 559

Returns:

A promise object with a string presenting the robot type.

Type:: Promise.<string>

Example

let robotType = await API.CONTROLLER.getRobotType()

isSAY() → {Promise.<boolean>}

Check whether the connected robot is IRB 14050

Source: ecosystem-base.js, line 574

Returns:

A promise object with a boolean value indicating whether the robot is IRB 14050.

Type:: Promise.<boolean>

Example

let isSAY = await API.CONTROLLER.isSAY()

monitorControllerState(callbackopt)

Subscribes to 'controller-state' and 'operation-mode'. Current state is stored in ctrlState. Additionally, isMotOn is updated with the corresponding value.

Parameters:

Name	Type	Attributes	Description
`callback`	function	<optional>	Callback function is called when controller state changes

Source: ecosystem-base.js, line 671

Example

// The callback will be executed when motor status is changed
const motorStatus = (value)=>{console.log("motor status is:",value);}
await API.CONTROLLER.monitorControllerState(motorStatus);

monitorOperationMode(callbackopt)

Subscribes to 'operation-mode'. Current state is stored in opMode. Additionally, isManReduced is updated with the corresponding value.

Parameters:

Name	Type	Attributes	Description
`callback`	function	<optional>	Callback function is called when operation mode changes

Source: ecosystem-base.js, line 609

Example

// The callback will be executed when operation mode is changed
const opMode = (value)=>{console.log("operation mode is:",value);}
await API.CONTROLLER.monitorOperationMode(opMode);

restart(modeopt) → {Promise.<{}>}

Restarts the controller. Possible modes are:
'restart' normal warm start
'shutdown' shut down the controller
'boot_application' start boot application
'reset_system' reset system
'reset_rapid' reset Rapid
'revert_to_auto' revert to last auto-save
NOTE! An enum ‘RWS.Controller.RestartModes’ with the valid values is provided for ease of use.

Parameters:

Name	Type	Attributes	Description
`mode`		<optional>	The parameter 'mode" indicates the type of the restart that is requested.

Source: ecosystem-base.js, line 939

Returns:

Type:: Promise.<{}>

Example

await API.CONTROLLER.restart()

setMotorsState(state)

Sets motor status to on/off This interface is not valid for SPOC system, e.g., RobotWare 8. With SPOC system, Manual mode: press enable device to set motor on Auto mode: long press physical thumb button on FlexPendant, or trigger specific Safety input.

Parameters:

Name	Type	Description
`state`	API.CONTROLLER.STATE	The motor status to be set

Source: ecosystem-base.js, line 866

Example

// Set motor on
await API.CONTROLLER.setMotorsState(API.CONTROLLER.STATE.MotorsOn)

setOpMode(mode)

Set operation mode to a specific mode.

Parameters:

Name	Type	Description
`mode`	API.CONTROLLER.OPMODE	The operation mode to be set

Source: ecosystem-base.js, line 740

Example

// Set the operation mode to Auto mode
await API.CONTROLLER.setOpMode(API.CONTROLLER.OPMODE.Auto)

setOpModeAutomatic()

Sets the operation mode to Auto mode

Source: ecosystem-base.js, line 778

Example

await API.CONTROLLER.setOpModeAutomatic()

setOpModeManual()

Sets the operation mode to Manual mode

Source: ecosystem-base.js, line 754

Example

await API.CONTROLLER.setOpModeManual()