clear_errors¶

Runs at once Any mode Open to every client

Clear the latched errors, and the abort after a failed move. The robot sends a clear to every drive that reports a fault, waits about 0.15 s, then empties its list of latched errors, warnings included. A fault that is still present latches again; when none is left, the robot leaves the error state for IDLE mode. It stays disabled: call enable() next. Homing that an error invalidated stays invalid: call home() again.

It also lifts the motion abort at once: after a move failed or a program was interrupted, the robot refuses new moves with MOTION_ABORTED until this call.

Syntax¶

robot.clear_errors(wait=None)

Arguments¶

Name	Type	Default	Description
`wait`	`bool \| None`	`None`	Wait until the robot reports no error and has left the error state, up to 10 s. Warnings do not count; `wait_error_reset()` waits for them too. `None` follows the client's `sync` setting.

Returns¶

Nothing.

Examples¶

robot.clear_errors(wait=True)
robot.enable(wait=True)

Further details¶

Note

A fault that is still present can be missing from the status for up to about 20 ms before it latches again, so a wait can, rarely, return early. Check errors() when it matters.

Usage restrictions 1 code

This command runs at once; it is not queued. The robot accepts it in any mode and state, from every client.

It answers with one of these codes when it does not carry the command out:

[6025] RTI not running or not answering — rTI did not answer within 1 s: it is not running or not responding. The command may still have taken effect

In Python, a code above raises CommandRejected; its number is the code. The call raises:

CommandRejected: RTI refused it or did not answer within 1 s (Errors:).
RobotTimeout: The robot did not answer within 5 s, or, with wait, an error was still latched after 10 s.
RobotConnectionError: The client is not connected.

If the connection drops while the call waits for the robot's answer, it raises CommandRejected with the code CONNECTION_LOST (DISCONNECTED after disconnect()); while it waits for the robot's status, RobotConnectionError.

Like every immediate command, it also answers BAD_ARGS when a raw client sends a value the robot cannot read at all, and INTERNAL when it fails inside the robot.

Protocol¶

A client that does not use robotclient sends this over the TCP command protocol (port 29000) for the example above:

{"id": "c1", "cmd": "clear_errors", "args": []}