Enum ControlMode

Enum Documentation

enum class urcl::comm::ControlMode : int32_t

Control modes as interpreted from the script runnning on the robot.

Values:

enumerator MODE_STOPPED

When this is set, the program is expected to stop and exit.

enumerator MODE_UNINITIALIZED

Startup default until another mode is sent to the script.

enumerator MODE_IDLE

Set when no controller is currently active controlling the robot.

enumerator MODE_SERVOJ

Set when servoj control is active.

enumerator MODE_SPEEDJ

Set when speedj control is active.

enumerator MODE_FORWARD

Set when trajectory forwarding is active.

enumerator MODE_SPEEDL

Set when cartesian velocity control is active.

enumerator MODE_POSE

Set when cartesian pose control is active.

enumerator MODE_FREEDRIVE

Set when freedrive mode is active.

enumerator MODE_TOOL_IN_CONTACT

Used only internally in the script, when robot is in tool contact, clear by endToolContact()

enumerator MODE_TORQUE

Set when torque control is active.

enumerator END

This is not an actual control mode, but used internally to get the number of control modes.