Universal Robots Forum

UR_rtde 2.6.0 API

Hello,
I am using the ur_rtde 2.6.0 API & Python 3.8
I am working within the receiver class which has many methods but the two I will be discussing are;
getRobotStatus()
&
getRobotMode()

Trying To Do: get the current state of the robot in regard to teachmode being enabled or not

When I create my object instance (rtde_r = URrtde.receiver()) then call rtde_r.getRobotStatus() I am getting a return value of 7.
This return data is listed as below on the site:
"
Robot status Bits 0-3: Is power on | Is program running | Is teach button pressed | Is power button pressed
"
I should only be receiving a return of; 0, 1, 2 or 3 but I am getting 7.

Oddly enough when I look at the return data for getRobotMode()… I see this return data listed on the site:
"
Robot mode -1 = ROBOT_MODE_NO_CONTROLLER 0 = ROBOT_MODE_DISCONNECTED
1 = ROBOT_MODE_CONFIRM_SAFETY
2 = ROBOT_MODE_BOOTING
3 = ROBOT_MODE_POWER_OFF
4 = ROBOT_MODE_POWER_ON
5 = ROBOT_MODE_IDLE
6 = ROBOT_MODE_BACKDRIVE
7 = ROBOT_MODE_RUNNING
8 = ROBOT_MODE_UPDATING_FIRMWARE
"

It appears as though this method is returning the wrong set of data. I am trying to get the proper feedback for when the teachmode is already enabled so my custom UI can reflect this throughout its lifecycle.

Any help you can provide would be greatly appreciated. If you need further insight from me I will be happy to assist