Control panel & operation mode

// Confirms a pending operating mode change (synchronous) The controller waits for this confirmation whenever the mode selector is turned, unless it is configured to acknowledge the change on its own.
void AcknowledgeOperationMode(OperationModeAcknowledgement acknowledgement);

// Gets the collision detection state of the controller (synchronous)
CollisionDetectionState GetCollisionDetectionState();

// Gets the state of the controller (synchronous)
ControllerState GetControllerState();

// Gets the operating mode the controller runs in (synchronous)
OperationMode GetOperationMode();

// Gets the lock state of the operating mode selector (synchronous)
OperationModeLockState GetOperationModeLockState();

// Gets the speed ratio the controller runs the programs at (synchronous)
int GetSpeedRatio();

// Locks the operating mode selector with a pin code (synchronous)
void LockOperationMode(string pin, bool permanent = false);

// Restarts the controller (synchronous)
void Restart(ControllerRestartMode mode, bool useImplicitMastership = true);

// Turns the motors of the robot on or off (synchronous)
void SetControllerState(ControllerState state);

// Sets the language the controller reports its messages in (synchronous)
void SetLanguage(string languageCode);

// Sets the speed ratio the controller runs the programs at (synchronous) Only accepted while the controller runs in automatic mode.
void SetSpeedRatio(int speedRatio, bool useImplicitMastership = true);

// Releases the lock of the operating mode selector (synchronous)
void UnlockOperationMode(string pin);

public enum OperationMode {
 
    // Automatic mode
    Automatic = 6
 
    // A change to the automatic mode has been requested and is waiting to be acknowledged
    AutomaticChangeRequest = 2
 
    // The controller is initializing
    Init = 1
 
    // Manual mode at full speed
    ManualFullSpeed = 5
 
    // A change to the manual full speed mode has been requested and is waiting to be acknowledged
    ManualFullSpeedChangeRequest = 3
 
    // Manual mode at reduced speed
    ManualReducedSpeed = 4
 
    // The controller reports an undefined operating mode
    Undefined = 7
 
    // The operating mode could not be determined
    Unknown = 0
}

public enum OperationModeAcknowledgement {
 
    // Confirms the switch to the automatic mode
    Automatic = 0
 
    // Confirms a collision detection
    CollisionDetection = 2
 
    // Confirms the switch to the manual full speed mode
    ManualFullSpeed = 1
}

public enum OperationModeLockState {
 
    // The controller reports an error on the mode selector lock
    Error = 1
 
    // The operating mode is locked and can be unlocked again with the pin code it was locked with
    Locked = 3
 
    // A permanent lock has been requested and is not effective yet
    PendingPermanentLock = 5
 
    // The operating mode is permanently locked
    PermanentlyLocked = 4
 
    // The lock state could not be determined
    Unknown = 0
 
    // The operating mode can be changed freely
    Unlocked = 2
}

public enum ControllerState {
 
    // The robot is stopped because the emergency stop was activated
    EmergencyStop = 5
 
    // The robot is ready to leave the emergency stop state: the emergency stop is no longer activated,
    // but the state transition is not confirmed yet.
    EmergencyStopReset = 6
 
    // The robot is stopped because the safety runchain is opened, for instance because a door of its cell is open
    GuardStop = 4
 
    // The robot is starting up. It will shift to <xref href="UnderAutomation.ABB.Rws.Data.ControllerState.MotorsOff" data-throw-if-not-resolved="false"></xref> once it has started.
    Init = 1
 
    // The robot is in a standby state where there is no power to its motors.
    // The state has to be shifted to <xref href="UnderAutomation.ABB.Rws.Data.ControllerState.MotorsOn" data-throw-if-not-resolved="false"></xref> before the robot can move.
    MotorsOff = 2
 
    // The robot is ready to move, either by jogging or by running programs
    MotorsOn = 3
 
    // The robot is in a system failure state and requires a restart
    SystemFailure = 7
 
    // The state could not be determined
    Unknown = 0
}

public enum CollisionDetectionState {
 
    // A detected collision has been confirmed
    Confirmed = 3
 
    // No collision has been detected since the controller started
    Init = 1
 
    // A collision has been detected and is waiting to be confirmed
    Triggered = 2
 
    // A detected collision has been acknowledged by an operator
    TriggeredAcknowledged = 4
 
    // The collision detection state could not be determined
    Unknown = 0
}

public enum ControllerRestartMode {
 
    // The controller will be restarted. The last automatically saved system state will be loaded.
    // Should be used to recover from a system crash.
    BStart = 5
 
    // The controller will be restarted. The current system parameter settings and RAPID programs will be discarded,
    // and the original system installation settings will be used.
    IStart = 3
 
    // The controller will be restarted. The current RAPID programs and data will be discarded, but not the system parameter settings.
    PStart = 4
 
    // The controller will be restarted. The state is saved and any changed system parameter settings will be activated after the restart.
    Restart = 0
 
    // The main computer will be shut down. Should be used if the controller UPS is broken.
    Shutdown = 1
 
    // The controller will be restarted and the Boot Application will be started. The current system is saved and deactivated
    // (the controller is non-functional, for advanced maintenance only).
    XStart = 2
}