While in motion, if the robot hits into an obstacle such that the motors can no longer follow the designated path, the robot will go into an
alarm state. In the alarm state, all commands that are already submitted to the controller, will be deleted and the existing motion command will be immediately suspended and the robot will abruptly stop its motion. No new commands will be accepted by the controller, until an alarm clearing command is issued to the robot by the user. The user has to clear any obstacle on the motion of the robot before clearing the alarm. After the alarm is cleared, the robot will accept and run new commands as usual.
In addition to accidents that will force the robot into the alarm mode, the user can also manually send an alarm command to the robot, which will cause exactly the same behavior from the robot. For instance, if the user can detect an obstacle that will hit the robot shortly, and the time or distance to the obstacle is not large enough for a
halt command to operate properly, the user can send an alarm command. When the robot receives the command, it will stop the motion immediately, without proper deceleration, and will remove all commands from its queues. A subsequent alarm command is needed to clear the existing alarm state of the robot.
Key, value pairs
|"cmd"||"alarm"||Yes||Forces the robot into an alarm state or clears an already existing alarm state.|
|"id"||Int (>0)||No||Id can be any positive integer. If id is not provided, status of the command will not be returned from the controller.|
|"alarm"||0 / 1||No||If |
This command will clear the alarm state of the robot. It has to be issued after the robot enters the alarm state.
|"cmd"||"alarm"||If the user sends the alarm command without any input, the controoler will respond with the current state of the alarm.|
|"alarm"||0 / 1||The value of |
|"id"||Int (>0)||Same id as the original |