How to know if robot is under teach_mode?

Technical Questions URScript
1

Dear you all, dear UR team,
during a script, if you activate the teach_mode mode on the robot, then you cannot call a movement command (such has movej). I search and found no way for a remote computer supervising / controlling the robot (with dashboard) to know if the robot is currently under teach_mode or not. Can you help me ?
Best Regards
Boris

2

remark : your annoncement V5.6
says “New Dashboard server commands, including support for reading local/remote control mode, or operational mode.”
But looking at Dashboard documentation I did not found what I was looking for.

3

In the bottom of the table in the linked article, I find the following newly added Dashboard Server commands;

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image1145Ă—422 13.1 KB

4

Hi,
yes these are the new dashboard commands, but nothing to know if the teach_mode (freedrive) is active or not.

5

Does anyone have an answer ?

6

You can get the info from the primary socket:
https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/remote-control-via-tcpip-16496/
https://s3-eu-west-1.amazonaws.com/ur-support-site/16496/Client_Interface_V3.12andV5.6.xlsx

7

Ho yes there is control mode “CONTROL_MODE_TEACH”. I guess this is the correct one to use. But we have to use the RTDE … Allright we will try then. Thanks for the solution.

8

with RTDE you could check controller output:

robot_status_bits
Bits 0-3: Is power on | Is program running | Is teach button pressed | Is power button pressed

9

Hi, can you also tell me if/how I can use robot_status_bits in Python code, please?

10

Hi, thanks a lot for the clarification!
Can you be so kind as to give an example of how to retrieve robot_mode vie Python code?