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Status, alarms and servo

Read the state and the alarms with their text through the Ethernet Server, reset them, switch the servo, hold the robot, set the cycle, the mode and the pendant lock.

Read the status
Alarms
Read the alarms with their text
Reset an alarm
Servo, hold and cycle
Reference
What to read next

This page shows how to read the state and the alarms of a Yaskawa Motoman controller through the Ethernet Server, and how to change the state: servo power, hold, cycle mode, operation mode, pendant lock and pendant message. It covers the YRC1000 and YRC1000micro controllers.

Read the status

GetStatusInformation() reads the mode, the execution state, the hold and the alarm flags in one command.

var robot = new YaskawaRobot();
robot.Connect(parameters);
HostControlStatusData status = robot.EServer.GetStatusInformation();

Console.WriteLine($"Teach: {status.Teach}, play: {status.Play}");
Console.WriteLine($"Remote: {status.CommandRemote}, servo: {status.ServoOn}");
Console.WriteLine($"Running: {status.Running}, speed limit: {status.SpeedLimit}");
Console.WriteLine($"Alarm: {status.Alarming}, error: {status.ErrorOccurring}");
Console.WriteLine($"Hold by pendant: {status.InHoldStatusPendant}, by command: {status.InHoldStatusByCommand}");
robot.Disconnect();
}

Click to see the full code

Property	`true` when
`Teach`, `Play`	The controller is in teach mode, in play mode
`CommandRemote`	The controller accepts the commands of the PC
`Step`, `Cycle`, `Automatic`	The cycle mode: step, one cycle, continuous
`Running`	A job or a move is executed
`SpeedLimit`	The speed is limited (teach mode safe speed)
`ServoOn`	The servo power is on
`InHoldStatusPendant`	The hold button of the pendant is pressed
`InHoldStatusExternally`	The external hold signal is on
`InHoldStatusByCommand`	A hold was sent by `SetHold(true)`
`Alarming`	An alarm is active
`ErrorOccurring`	An error message is shown

RawData1 and RawData2 hold the same flags as two numbers, to log them or compare two status reads in one test.

Alarms

Read the alarms with their text

GetAlarmWithMessages() reads the active error and the 4 alarms of the controller, with the code, the sub code and the text of each one.

var robot = new YaskawaRobot();
robot.Connect(parameters);
// Active error and alarms, with their text
HostControlAlarmStringData alarms = robot.EServer.GetAlarmWithMessages();

if (alarms.Error != null && alarms.Error.Code != 0)
    Console.WriteLine($"Error {alarms.Error.Code}: {alarms.Error.Message}");

foreach (HostControlAlarmEntry alarm in alarms.Alarms)
{
    if (alarm.Code != 0) // empty entries have the code 0
        Console.WriteLine($"Alarm {alarm.Code} ({alarm.SubCode}): {alarm.Message}");
}

// Reset the alarms, cancel the error (remote mode)
if (alarms.AlarmCount > 0) robot.EServer.AlarmReset();
robot.EServer.ErrorCancel();
robot.Disconnect();
}

Click to see the full code

Property	Content
`Error`	The error message, if any. `Code` is 0 when there is no error
`Alarms`	4 entries. An entry with the code 0 is empty
`AlarmCount`	Number of active alarms

GetAlarm() reads the codes only, in arrays: index 0 is the error, indexes 1 to 4 are the alarms. It is faster when the text is not needed.

Reset an alarm

AlarmReset() resets the alarms, ErrorCancel() removes the error message. Both need the remote mode. The cause of the alarm must be removed first, or the alarm comes back.

Servo, hold and cycle

Each command of this section needs the remote mode.

var robot = new YaskawaRobot();
robot.Connect(parameters);
// Each command needs the remote mode
robot.EServer.SetServo(true);   // waits up to PowerOnTimeoutMilliseconds
robot.EServer.SetHold(true);    // stop on the path, the servo stays on
robot.EServer.SetHold(false);

// Cycle mode of the next job start
robot.EServer.SetCycle(RobotCycleType.OneCycle);

// Teach or play mode (needs the external mode switch)
robot.EServer.SetMode(RobotMode.Play);

// Lock the pendant, show a message to the operator (30 characters)
robot.EServer.SetTeachPendantLockState(true);
robot.EServer.Display("Cell driven by the PC");

robot.EServer.SetServo(false);
robot.Disconnect();
}

Click to see the full code

Method	Effect
`SetServo(true)`, `SetServo(false)`	Servo power on or off. The SDK waits up to `PowerOnTimeoutMilliseconds`
`SetHold(true)`, `SetHold(false)`	Hold: the robot stops on its path, the servo stays on. Then release it
`SetCycle(RobotCycleType)`	`Step`, `OneCycle` or `Automatic` for the next job start
`SetMode(RobotMode)`	`Teach` or `Play`
`SetTeachPendantLockState(true)`	Locks the pendant and the I/O operation signals. The emergency stop stays active
`Display(message)`	Shows a message on the pendant, 30 characters at most

SetMode works only when the external mode switch is enabled on the OPERATING CONDITION window of the controller. Otherwise the controller refuses it.

When a PC drives the cell, lock the pendant so that nobody changes the mode or starts a job from it at the same time.

Reference

Methods of HostControlClientBase :

// Resets the current alarm condition. The cause of the alarm must be resolved before reset will succeed. Command remote must be enabled on the controller.
HostControlResponse AlarmReset();

// Displays a message on the remote display of the teach pendant. Command remote must be enabled on the controller.
HostControlResponse Display(string message);

// Cancels the current error condition. Used for recoverable errors that don't require full alarm reset.
HostControlResponse ErrorCancel();

// Reads the codes of the active error and alarms from the robot controller. Index 0 of the arrays is the error, indexes 1 to 4 are the alarms.
HostControlAlarmData GetAlarm();

// Reads the active error and alarms with their text messages from the robot controller. Returns the error and up to 4 alarms, each with its code, sub-code and message.
HostControlAlarmStringData GetAlarmWithMessages();

// Reads the current operational status of the robot controller. Returns information about mode (teach/play), running state, hold status, alarms, and servo power.
HostControlStatusData GetStatusInformation();

// Sets the execution cycle type (Step, One Cycle, or Automatic).
HostControlResponse SetCycle(RobotCycleType cycle);

// Sets the hold state of the robot. When hold is ON, robot motion is paused. When OFF, motion can resume.
HostControlResponse SetHold(bool enable);

// Sets the robot operation mode (Teach or Play).
HostControlResponse SetMode(RobotMode mode);

// Enables or disables servo power. Servo must be ON for the robot to move. Uses extended timeout for power-on.
HostControlResponse SetServo(bool enable);

// Locks or unlocks the operations from the teach pendant and from the I/O operation signals. The emergency stop of the teach pendant stays active. Command remote must be enabled on the controller.
HostControlResponse SetTeachPendantLockState(bool locked);

Class

HostControlStatusDatainherits HostControlResponse

C#Python

Contains the current operational status of the robot controller. Provides information about the robot's mode, running state, and safety conditions.

Member	Type	Description
Alarming Property read only	bool	Gets whether an alarm is currently active. Check GetAlarm() for detailed alarm information.
Automatic Property read only	bool	Gets whether the robot is in automatic operation mode. When true, the robot can operate automatically without pendant interaction.
CommandRemote Property read only	bool	Gets whether remote command mode is enabled. When true, the robot accepts commands from external sources (including this API).
Cycle Property read only	bool	Gets whether the robot is in cycle execution mode. When true, the robot executes one complete cycle then stops.
ErrorOccurring Property read only	bool	Gets whether an error condition is occurring. Errors may prevent normal operation until resolved.
InHoldStatusByCommand Property read only	bool	Gets whether the robot is held by a command (software hold). A hold command was issued via the API or job instruction.
InHoldStatusExternally Property read only	bool	Gets whether the robot is held by an external hold signal. External safety circuit has triggered a hold condition.
InHoldStatusPendant Property read only	bool	Gets whether the robot is held by the programming pendant. Operator has pressed hold on the pendant.
Play Property read only	bool	Gets whether the robot is in play mode. In play mode, the robot can execute programmed jobs.
RawData1 Property read only	int	Gets the first raw status word from the controller response.
RawData2 Property read only	int	Gets the second raw status word from the controller response.
Running Property read only	bool	Gets whether the robot is currently running (executing a job).
ServoOn Property read only	bool	Gets whether servo power is enabled. Servo must be ON for the robot to move.
SpeedLimit Property read only	bool	Gets whether speed limit is active.
Step Property read only	bool	Gets whether the robot is in step (single-step) execution mode. When true, the robot executes one instruction at a time.
Teach Property read only	bool	Gets whether the robot is in teach mode. In teach mode, the robot can be manually positioned and jobs can be edited.

Class

HostControlAlarmStringDatainherits HostControlResponse

C#Python

Contains alarm information with text messages retrieved from the robot controller.

Member	Type	Description
AlarmCount Property read only	int	Gets the number of active alarms (entries of `Alarms` with a code other than 0).
Alarms Property read only	HostControlAlarmEntry[]	Gets the alarm entries with codes and text messages (always 4 entries, the code of an unused entry is 0).
Error Property read only	HostControlAlarmEntry	Gets the active error. Its code is 0 when no error is active.

Class

HostControlAlarmEntry

C#Python

Represents a single alarm entry with code, sub-code and text description.

Member	Type	Description
Code Property read only	int	Gets the alarm code number.
Message Property read only	string	Gets the alarm text message.
SubCode Property read only	int	Gets the alarm sub-code (data).

Class

HostControlAlarmDatainherits HostControlResponse

C#Python

Contains alarm information retrieved from the robot controller.

Member	Type	Description
Codes Property read only	int[]	Gets the codes (5 entries). Index 0 is the code of the active error, indexes 1 to 4 are the codes of the active alarms. A code of 0 means no error or no alarm.
Data Property read only	int[]	Gets the sub-codes (5 entries), at the same index as `Codes`. Index 0 is the sub-code of the error, indexes 1 to 4 are the data of the alarms.

Enum

RobotCycleType

C#Python

Specifies the execution cycle type.

Name	Value	Description
Automatic	3	Automatic mode : continuous operation.
OneCycle	2	One cycle mode : execute one complete cycle then stop.
Step	1	Step mode : execute one instruction at a time.

Enum

RobotMode

C#Python

Specifies the robot operation mode.

Name	Value	Description
Play	2	Play mode : robot can execute programmed jobs.
Teach	1	Teach mode : robot can be manually positioned and jobs can be edited.

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Status, alarms and servo

Read the status

Alarms

Read the alarms with their text

Reset an alarm

Servo, hold and cycle

Reference

What to read next