Status fields

What the robot reports about itself, field by field: the status stream that latest_status() reads, and the answers of get_status(), get_health(), get_hardware() and get_versions().

The status stream

The robot sends its status to every connected client whenever a field changes, checked 50 times a second. latest_status() returns the newest one the client received, without asking the robot.

Field	Meaning	Unit or values
type	Always "status".	text
runtime_version	The robot software's version.	text, such as "0.10.0"; "unknown" if it cannot be read
protocols	The protocol versions: commands, rti, telemetry.	whole numbers
control_holder	The client that holds control, by its address as the robot sees it.	"ip:port", or None
force_confirm	A forced takeover needs a button press at the control box.	true / false
force_confirm_pending	A forced takeover is waiting for that button press now.	true / false
mode	The robot's mode.	BOOTING, IDLE, ACTIVE_ERROR, HOMING, JOG, RTI, SOFT_RTI, EXEC, HAND_GUIDING, IMPEDANCE, SAFETY_STOP, FLASHING
state	Whether the robot is enabled.	ENABLED, DISABLED
homed	The arm is homed.	true / false
err	An error is latched (warnings do not count).	1 / 0
errors	Every latched error and warning, by key, such as "J3:WATCHDOG".	list of text
error_details	Each latched key with its key, number, title, level and since.	list; since in seconds since 1970
motion_aborted	The failure that aborted the program: cid, code, message.	or None
safety	A safety-monitor error is latched.	1 / 0
estop	The software E-stop is on.	1 / 0
exec_paused	The EXEC program is paused.	1 / 0
exec_settling	EXEC waits for the arm to settle at the end of a move.	1 / 0
exec_stopping	EXEC brakes for a stop.	1 / 0
exec_completion_policy	When a move counts as complete.	"commanded", "settled", "strict"
recipe	The active telemetry recipe.	text
recipes	The recipe files on the robot.	list of text
gravity_comp	Gravity compensation is on.	true / false
friction_comp	Friction compensation in freedrive is on.	true / false
inertia_comp	The inertia feedforward is on.	true / false
coriolis_comp	The Coriolis feedforward is on.	true / false
friction_ff	The friction feedforward is on.	true / false
collision_detection	What a detected collision does.	"off", "warn", "stop"
can_read_first	The control loop reads the drives before it commands them (off while homing).	true / false
hall_check	The Hall sensor check: joint (from 1; 0 = off), pin (0 / 1), changes, edge_deg (the angle at the last change to 0 and to 1).	deg
free_joint	The joint that is free to turn by hand, from 1.	0 = none
joint_test	The last joint test: joint (from 1), state (idle, running, done, fell_behind, stopped), amplitude_deg, moved_deg, max_error_deg, peak_current_ma, end_error_deg, seq.	deg, mA
tick_s	The control loop's period.	s (0.004 on PAR6)
payload	The declared payload: mass and com (centre of mass [x, y, z] in the tool frame).	kg, m
executing_seq	The queued command being executed, by its queue number.	whole number
completed_seq	The last completed queued command.	whole number
queue_depth	Queued commands not yet taken up.	whole number
active_command	The command being executed, such as "move_joints".	text, or None
current_profile	The motion profile of the current or last command.	text
last_error	The last failed command: seq, cmd, code, message.	or None after a success
last_diagnostic	The planner's notes on the current command (blends, inverse kinematics, singularities, path deviation).	or None
ik_config	The inverse kinematics settings in use.	as named in each key
default_ik_solver	The inverse kinematics engine the session uses.	text
default_fk_jacobian_backend	The kinematics library in use.	text

get_status()

get_status() asks the robot and returns mode, state, homed, runtime_version, protocols, exec_paused, exec_settling, exec_stopping and exec_completion_policy as above, and:

Field	Meaning	Unit or values
pose_angles	The convention of pose angles.	"xyz-mobile": see Pose and angles
error_active	The same as err.	true / false
safety_violation	The same as safety.	true / false
software_estop	The same as estop.	true / false
planner	The planner fields of the stream in one block, default_ik_solver and default_fk_jacobian_backend included.
joints	The measured joint angles.	deg

get_health()

get_health() answers with a level (the worst part's: OK < WARN < ERROR < STALE), a time (seconds since 1970) and its components, in this order:

Part	Values	Levels
control loop	tick, p99_period_ms, nominal_ms, overruns, exec_time_ms	STALE: the loop stopped for 50 ms; ERROR: the 99th percentile period over 1.5 x nominal; WARN: over 1.05 x
memory lock	locked_mb	WARN: not locked
CAN	lost, stale, connected	ERROR: a drive lost; WARN: old data
drives	temperature_c, faulted, voltage_v per joint	ERROR: a drive fault; WARN: 60 °C or more
gripper	connected, fault, homed (a CAN gripper only)	ERROR: not answering or a fault; WARN: not homed
errors	errors, warnings	ERROR: any error; WARN: any warning
homing	homed, mode	WARN: not homed
executor	heartbeat	STALE: no heartbeat
self-collision worker	heartbeat, slowest_cycle_ms	STALE: no heartbeat; WARN: a cycle over 10 ms
recorder	last_pass_s_ago, rows_written	STALE: no pass for 1 s
processes	each process's pid N or missing	ERROR: one missing
disk	free_mb, total_mb	ERROR: under 200 MB free; WARN: under 500 MB
memory	used_pct, available_mb	ERROR: over 95 %; WARN: over 85 %
CPU temperature	celsius	ERROR: over 80 °C; WARN: over 70 °C or unreadable
clock	ntp_synced, rtc, utc	WARN: neither network time nor a battery clock

get_hardware()

get_hardware() answers with time, tick, joint_num, has_gripper and:

• drives, one per joint: name, can_id, answered_scan, answering, lost, firmware, hardware, serial, batch, voltage_v (V), temperature_c (°C), fault, flags (temperature, encoder, supply_voltage, driver, velocity, current, estop, watchdog), calibrated, driver_type, firmware_supported (None, "ok", "too_old", "too_new" or "undeclared") and supported_range.
• gripper: the same for the gripper's drive, or None.
• scan_unexpected_ids: CAN IDs from 0 to 15 that answered the start-up scan but are not used.
• can_link: the CAN interface's interface, state, restart_ms, restarts, bus_errors, arbitration_lost, error_warning, error_passive and bus_off, or None.
• io: pcb_version, estop_channels_used, estop_raw (per channel, 0 = pressed), estop_channel_pressed, estop_pressed, software_estop, buttons_pressed (B1, B2), inputs and outputs (3 each).

get_versions()

get_versions() answers with:

• runtime: version, branch, commit.
• python, and os: name, kernel, realtime.
• description_package: version, path, min, ok.
• protocols: commands, rti, telemetry.
• hardware: robot, revision, driver_types, gripper, gripper_revision, gripper_driver_type, description_package_min.
• drives, one per joint: joint (from 1), can_id, firmware, hardware, serial, batch, driver_type, supported, supported_range.
• gripper: the same without batch, or None.
• control_box: pcb_configured, hardware, software, serial, batch.
• config_formats: the configuration file formats this software reads (reads) and those of the files it read (files).
• time, and clients: each connected client's client, version and protocol.

A value the hardware has not reported yet reads as None.

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