set_jog_control_mode¶

Runs at once Any mode Takes control

Set how the drives follow a jog: PID or PD control.

"pid": each drive runs its own position and speed loops, with an integral term, toward the jog's position and speed.
"pd": each drive turns its position and speed errors into torque with its own two gains, without an integral term.

The gains are the drives' own (set_pid_gains()). It applies in JOG mode only, from the next control tick, also to a jog in progress. Letter case does not matter. The setting is the robot's: it applies to every client's jogs and the dashboard's, and mode changes keep it. It lasts until it is changed or the robot software restarts.

Syntax¶

robot.set_jog_control_mode(mode)

Arguments¶

Name	Type	Default	Description
`mode`	`str`	required	`"pid"` or `"pd"`.

Default values¶

From config/system.xml <jog_defaults>, read at start: "pid".

Returns¶

Any

None: the robot sends no value back.

Examples¶

robot.set_jog_control_mode("pd")
robot.set_jog_control_mode("pid")

Usage restrictions 4 codes

This command runs at once; it is not queued. The robot accepts it in any mode and state, from the client that holds control or when no client does.

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

[6101] Control held by another client — another client holds control; the message names it
[6003] Invalid arguments — mode is neither "pid" nor "pd"
[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
[6026] Refused by RTI — rTI could not use the name. The message says why

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

CommandRejected: The robot refused it: the name is neither "pid" nor "pd", or another client holds control. Or RTI refused it or did not answer within 1 s (Errors:).
RobotTimeout: The robot did not answer within 5 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": "set_jog_control_mode", "args": ["pd"]}