exit
Disables freedrive mode, restoring normal robot control. After executing this command, the cobot arm can no longer be moved manually by hand.
Return
ArmState representing the current URScript command execution state, which is continuously updated.
Parameters
maximum time (in milliseconds) to wait for the command to complete. If this time is exceeded, the command is considered failed and the ArmState will no longer be updated.
⚠️ Experimental: optional callback that is invoked whenever the ArmState changes during execution. Can be used to track progress or react to state transitions in real time.
optional callback that is invoked once when the ArmState is final. The state is final when runningState assumes the following value: RunningState.END, RunningState.TIMEOUT, RunningState.CANCELED
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 }
ur.arm.enterFreeDriveMode(
t = 20.0f,
cmdTimeout = 30000,
onChange = null,
onFinished = { state -> /* Do something */ }
)
ur.additionalInfoFlow.first{ it?.freedriveButtonEnabled == true }
/* Do something with the robot arm */
delay(10000)
ur.arm.exitFreeDriveMode(
cmdTimeout = 5000,
onChange = null,
onFinished = { state -> /* Do something */ }
).await() // await for the finale state
}
//sampleEnd
}