Universal Robots+

Get Robot States Normal/E-Stop/Idle/Freedrive/

With RTDE (RTDE runtime_state enumeration) you can read robot states
Stopping : 0, Stopped : 1, Playing : 2, Pausing : 3, Paused : 4, Resuming : 5

But how is it possible to read in robot states “Normal/E-Stop/Idle/Freedrive” with Java Swing ?

Dashboard.

“robotmode” answears:
NO_CONTROLLER
DISCONNECTED
CONFIRM_SAFETY
BOOTING
POWER_OFF
POWER_ON
IDLE
BACKDRIVE
RUNNING

and “safetymode” answears:
NORMAL
REDUCED
PROTECTIVE_STOP
RECOVERY
SAFEGUARD_STOP
SYSTEM_EMERGENCY_STOP
ROBOT_EMERGENCY_STOP
VIOLATION
FAULT

To touch on this, you can create a socket communication within the java side to communicate to the dashboard server to get the robot status…etc.

And how can I detect robot state “Freedrive”-Mode is running?