Features
Checks whether the current robot is in a state that requires mastering or not.
Robot states that require mastering
When the controller power is forcibly turned off in Servo On state
When Servo On again after STO error occurs
Parameters
None
Return
|
Value |
Description |
|---|---|
|
0 |
mastering completed |
|
1 |
mastering need |
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_TYPE) |
Parameter data type error occurred |
|
DR_Error (DR_ERROR_VALUE) |
Parameter value is invalid |
|
DR_Error (DR_ERROR_RUNTIME) |
C extension module error occurred |
|
DR_Error (DR_ERROR_STOP) |
Program terminated forcefully |
Example
Python
ret = check_robot_mastering()
if ret == 1:
move_home()