Features
Checks whether the current robot is in a state that requires mastering or not.
When the controller power is forcibly turned off in Servo On state
When Servo On again after STO error occurs
Parameters
None
Return
|
Value |
Description |
|---|---|
|
0 |
mastering completed |
|
1 |
mastering need |
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_TYPE) |
Parameter data type error occurred |
|
DR_Error (DR_ERROR_VALUE) |
Parameter value is invalid |
|
DR_Error (DR_ERROR_RUNTIME) |
C extension module error occurred |
|
DR_Error (DR_ERROR_STOP) |
Program terminated forcefully |
Example
Python
ret = check_robot_mastering()
if ret == 1:
move_home()
Related commands