enter_jog_mode¶

Runs at once IDLE or JOG mode Enabled Homed Takes control

Switch to JOG mode, where jog() moves one joint at a time. In JOG mode a joint moves while jog() asks for it, and jog_stop() stops it. Nothing moves on entry. Calling it in JOG mode changes nothing.

Syntax¶

robot.enter_jog_mode(wait=None)

Arguments¶

Name	Type	Default	Description
`wait`	`bool \| None`	`None`	Wait until the robot reports JOG mode, up to 10 s. `None` follows the client's `sync` setting.

Returns¶

Nothing.

Examples¶

import time
robot.enter_jog_mode(wait=True)
robot.jog(5, 1, 0.05)
time.sleep(0.5)
robot.jog_stop()

Usage restrictions 4 codes

This command runs at once; it is not queued. The robot accepts it only when it is in IDLE or JOG mode, enabled and homed, 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:

[6010] Command not allowed now — the message names the mode or state it needs
[6101] Control held by another client — another client holds control; the message names it
[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
[6014] Mode change refused — rTI refused JOG: an error is latched, or the arm is not enabled or not homed. The message says why

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

CommandRejected: The robot refused it: it is not in IDLE or JOG mode, not enabled or not homed, 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, or, with wait, did not report JOG mode within 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": "enter_jog_mode", "args": []}