ur-kotlin/com.wolfscowl.ur_client.core/URDashBoard/powerOn

powerOn

abstract suspend fun powerOn(): Result<String>

Powers on the robot arm and releases the brakes to reach "normal mode" via the Dashboard Server.

This function sends a series of commands to the UR robot via the dashboard server to fully power it on and make it ready for operation. The following steps are executed in order:

Close any open popup dialogs.
Close any active safety popups.
Unlock a protective stop if one is active.
Power on the robot.
Release the brakes.

Return

Result containing combined response strings on success, or an Exception on failure. Response messages include:

"closing popup"
"closing safety popup"
"Protective stop releasing"
"Powering on"
"Brake releasing"

Samples

import com.wolfscowl.ur_client.UR
import com.wolfscowl.ur_client.examples.Examples.ur
import com.wolfscowl.ur_client.interfaces.state.await
import com.wolfscowl.ur_client.interfaces.state.awaitBlocking
import com.wolfscowl.ur_client.interfaces.state.awaitBlockingUntil
import com.wolfscowl.ur_client.interfaces.state.awaitUntil
import com.wolfscowl.ur_client.model.element.JointPosition
import com.wolfscowl.ur_client.model.element.Pose
import com.wolfscowl.ur_client.model.element.RunningState
import com.wolfscowl.ur_client.model.element.Vec3
import com.wolfscowl.ur_client.model.robot_state.mode.RobotMode
import kotlinx.coroutines.CompletableDeferred
import kotlinx.coroutines.delay
import kotlinx.coroutines.flow.first
import kotlinx.coroutines.runBlocking
import kotlin.system.exitProcess

fun main() { 
   //sampleStart 
   val ur = UR("192.168.2.1")

runBlocking {
    ur.connect()
    ur.isConnectedFlow.first { it }

    println( ur.powerOn().getOrThrow() )

    /* Do something */

    println( ur.powerOff().getOrThrow() )
} 
   //sampleEnd
}