4.1 Basic Robot Operations

Overview

The Arm class encapsulates most high-frequency interfaces related to Jiebote robots, handling connection management, status queries, and control-command delivery. Typical usage:

Instantiate Arm(local_proxy=False)
Call connect() to establish communication with the controller/pendant
Invoke motion, status, or I/O APIs as required
Finally call disconnect() or release_access() to free resources

No manual configuration is needed; the class automatically completes:

SDK version checking
Controller type identification
Proxy service selection
Logging of the chosen communication path

Notes

When the robot software version is lower than 7.7.0, ensure that local_proxy=True when instantiating the Arm class, and the PC has local communication capability.
For industrial robots, if you need to keep PC mode active:
- Call acquire_access() after connecting to apply for pendant control authority
- Promptly call release_access() to release authority after operations are completed
- Avoid long-term occupation of the pendant's control authority

Constructor

Method Name	Arm( `local_proxy` : bool = False)
Description	The Agilebot robot class, encapsulating all available interfaces.
Request Parameters	`local_proxy` : bool Whether to use a local controller proxy (default `False` ; `True` : start the proxy locally, only supports IP address input (not domain name), requires PC with local communication capability; `False` : use the controller/pendant built-in proxy service, robot software must be v7.7 or above and have proxy service installed).
Return Value	StatusCodeEnum: Function execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.1.1 Connect to the Robot

Method Name	connect(arm_controller_ip: str = `COBOT_IP` , teach_panel_ip: Optional[str] = None) -> StatusCodeEnum
Description	Connect to the Agilebot robot. The method auto-detects cooperative/industrial models, processes teach pendant IPs, and starts the appropriate proxy service.
Request Parameters	`arm_controller_ip` : str Controller IP (defaults to `COBOT_IP` ). `teach_panel_ip` : Optional[str] Teach pendant IP for industrial robots (when omitted, collaborative robots don't need pendant IP, industrial robots use default pendant IP or controller IP).
Return Value	StatusCodeEnum: Function execution result
Notes	- Local proxy is started only if `local_proxy=True` and a valid IP address is provided; Airbot domains only support direct connection and cannot work with the local proxy. - Invalid IP/domain values return `INVALID_IP_ADDRESS` . - A failure to contact the controller returns `CONTROLLER_CONNECTION_ERROR` with details.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.1.2 Check Connection Status with the Robot

Method Name	is_connected() -> bool
Description	Check whether the connection with the robot is valid
Request Parameters	No parameters
Return Value	bool: Connection status, True: Connection is valid, False: Connection is invalid
Notes	The legacy `is_connect()` method is deprecated; use `is_connected()` instead.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.1.3 Disconnect from the Robot

Method Name	disconnect()
Description	Disconnect from the Agilebot robot
Request Parameters	No parameters
Return Value	No return
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

arm/connect_disconnect.py

#!python
"""
Copyright © 2016 Agilebot Robotics Ltd. All rights reserved.
Instruction: Arm类下的基础通讯连接断开示例 / Example of a basic communication connection
"""

from Agilebot import Arm, StatusCodeEnum

# [ZH] 初始化捷勃特机器人
# [EN] Initialize the Agilebot robot
arm = Arm()
# [ZH] 连接捷勃特机器人
# [EN] Connect to the Agilebot robot
ret = arm.connect("10.27.1.254")
if ret == StatusCodeEnum.OK:
    print("机器人连接成功 / Robot connected successfully")
else:
    print(f"机器人连接失败，错误代码 / Robot connection failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 检查连接状态
# [EN] Check connection status
connect_status = arm.is_connected()
# [ZH] 打印结果
# [EN] Print the result
print(f"当前连接状态 / Current connection status: {connect_status}")

# [ZH] 断开捷勃特机器人连接
# [EN] Disconnect from the Agilebot robot
arm.disconnect()
print("机器人断开连接成功 / Robot disconnected successfully")

4.1.4 Get the Current Robot Model

Method Name	get_arm_model_info() -> tuple[str, StatusCodeEnum]
Description	Get the current robot model information
Request Parameters	No parameters
Return Value	str: Robot model, e.g., "GBT-C5A" StatusCodeEnum: Function execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

arm/get_arm_model_info.py

#!python
"""
Copyright © 2016 Agilebot Robotics Ltd. All rights reserved.
Instruction: Arm类下的型号获取示例 / Example of model info acquisition
"""

from Agilebot import Arm, StatusCodeEnum

# [ZH] 初始化捷勃特机器人
# [EN] Initialize the Agilebot robot
arm = Arm()
# [ZH] 连接捷勃特机器人
# [EN] Connect to the Agilebot robot
ret = arm.connect("10.27.1.254")
if ret == StatusCodeEnum.OK:
    print("机器人连接成功 / Robot connected successfully")
else:
    print(f"机器人连接失败，错误代码 / Robot connection failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 获取型号
# [EN] Get the robot model
model_info, ret = arm.get_arm_model_info()
# [ZH] 检查是否成功
# [EN] Check if successful
if ret == StatusCodeEnum.OK:
    print("获取型号成功 / Get robot model successfully")
    print(f"机器人型号 / Robot model: {model_info}")
else:
    print(f"获取型号失败，错误代码 / Get robot model failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 断开捷勃特机器人连接
# [EN] Disconnect from the Agilebot robot
arm.disconnect()

4.1.5 Get the Robot's Operating Status

Method Name	get_robot_status() -> tuple[RobotStatusEnum, StatusCodeEnum]
Description	Get the operating status of the Agilebot robot
Request Parameters	No parameters
Return Value	RobotStatusEnum: Robot operating status StatusCodeEnum: Function execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

arm/get_robot_status.py

#!python
"""
Copyright © 2016 Agilebot Robotics Ltd. All rights reserved.
Instruction: Arm类下的机器人状态获取示例 / Example of obtaining robot status
"""

from Agilebot import Arm, StatusCodeEnum

# [ZH] 初始化捷勃特机器人
# [EN] Initialize the Agilebot robot
arm = Arm()
# [ZH] 连接捷勃特机器人
# [EN] Connect to the Agilebot robot
ret = arm.connect("10.27.1.254")
if ret == StatusCodeEnum.OK:
    print("机器人连接成功 / Robot connected successfully")
else:
    print(f"机器人连接失败，错误代码 / Robot connection failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 获取机器人运行状态
# [EN] Get the robot running status
state, ret = arm.get_robot_status()
# [ZH] 检查是否成功
# [EN] Check if successful
if ret == StatusCodeEnum.OK:
    print("获取机器人运行状态成功 / Get robot running status successful")
    print(f"机器人运行状态 / Robot running status: {state.msg}")
else:
    print(f"获取机器人运行状态失败，错误代码 / Get robot running status failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 断开捷勃特机器人连接
# [EN] Disconnect from the Agilebot robot
arm.disconnect()
print("机器人断开连接成功 / Robot disconnected successfully")

4.1.6 Get the Current Controller Operating Status

Method Name	get_ctrl_status() -> tuple[CtrlStatusEnum, StatusCodeEnum]
Description	Get the current operating status of the Agilebot robot controller
Request Parameters	No parameters
Return Value	CtrlStatusEnum: Controller operating status StatusCodeEnum: Function execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

arm/get_ctrl_status.py

#!python
"""
Copyright © 2016 Agilebot Robotics Ltd. All rights reserved.
Instruction: Arm类下的获取运动控制器运行状态示例 / Example of the operating status of the controller
"""

from Agilebot import Arm, StatusCodeEnum

# [ZH] 初始化捷勃特机器人
# [EN] Initialize the Agilebot robot
arm = Arm()
# [ZH] 连接捷勃特机器人
# [EN] Connect to the Agilebot robot
ret = arm.connect("10.27.1.254")
if ret == StatusCodeEnum.OK:
    print("机器人连接成功 / Robot connected successfully")
else:
    print(f"机器人连接失败，错误代码 / Robot connection failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 获取运动控制器运行状态
# [EN] Get the controller running status
state, ret = arm.get_ctrl_status()
# [ZH] 检查是否成功
# [EN] Check if successful
if ret == StatusCodeEnum.OK:
    print("获取运动控制器运行状态成功 / Get controller running status successful")
    print(f"运动控制器运行状态 / Controller running status: {state.msg}")
else:
    print(f"获取运动控制器运行状态失败，错误代码 / Get controller running status failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 断开捷勃特机器人连接
# [EN] Disconnect from the Agilebot robot
arm.disconnect()
print("机器人断开连接成功 / Robot disconnected successfully")

4.1.7 Get the Current Servo Controller Status

Method Name	get_servo_status() -> tuple[ServoStatusEnum, StatusCodeEnum]
Description	Get the current status of the Agilebot robot servo controller
Request Parameters	No parameters
Return Value	ServoStatusEnum: Servo controller status StatusCodeEnum: Function execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

arm/get_servo_status.py

#!python
"""
Copyright © 2016 Agilebot Robotics Ltd. All rights reserved.
Instruction: Arm类下的伺服状态获取示例 / Example of obtaining servo status
"""

from Agilebot import Arm, StatusCodeEnum

# [ZH] 初始化捷勃特机器人
# [EN] Initialize the Agilebot robot
arm = Arm()
# [ZH] 连接捷勃特机器人
# [EN] Connect to the Agilebot robot
ret = arm.connect("10.27.1.254")
if ret == StatusCodeEnum.OK:
    print("机器人连接成功 / Robot connected successfully")
else:
    print(f"机器人连接失败，错误代码 / Robot connection failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 获取伺服控制器状态
# [EN] Get the servo controller status
state, ret = arm.get_servo_status()
# [ZH] 检查是否成功
# [EN] Check if successful
if ret == StatusCodeEnum.OK:
    print("获取伺服控制器状态成功 / Get servo controller status successful")
    print(f"伺服控制器状态 / Servo controller status: {state.msg}")
else:
    print(f"获取伺服控制器状态失败，错误代码 / Get servo controller status failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 断开捷勃特机器人连接
# [EN] Disconnect from the Agilebot robot
arm.disconnect()
print("机器人断开连接成功 / Robot disconnected successfully")

4.1.8 Get the Current Soft Mode of the Robot

Method Name	get_soft_mode() -> tuple[SoftModeEnum, StatusCodeEnum]
Description	Get the current soft mode of the Agilebot robot (PC mode manual/auto state)
Request Parameters	No parameters
Return Value	SoftModeEnum: Soft mode status StatusCodeEnum: Function execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.1.9 Set the Current Soft Mode of the Robot

Method Name	set_soft_mode( `soft_mode` : SoftModeEnum) -> StatusCodeEnum
Description	Set the current soft mode of the robot (PC mode manual/auto state)
Request Parameters	`soft_mode` : SoftModeEnum Soft mode value
Return Value	StatusCodeEnum: Function execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

arm/soft_mode.py

#!python
"""
Copyright © 2016 Agilebot Robotics Ltd. All rights reserved.
Instruction: Arm类下的机器人软状态获取示例 / Example of obtaining the soft state of a robot
"""

from Agilebot import Arm, SoftModeEnum, StatusCodeEnum

# [ZH] 初始化捷勃特机器人
# [EN] Initialize the Agilebot robot
arm = Arm()
# [ZH] 连接捷勃特机器人
# [EN] Connect to the Agilebot robot
ret = arm.connect("10.27.1.254")
if ret == StatusCodeEnum.OK:
    print("机器人连接成功 / Robot connected successfully")
else:
    print(f"机器人连接失败，错误代码 / Robot connection failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 设置机器人当前的软状态为手动限速模式
# [EN] Set the robot's current soft state to manual limit mode
ret = arm.set_soft_mode(SoftModeEnum.MANUAL_LIMIT)
# [ZH] 检查是否成功
# [EN] Check if successful
if ret == StatusCodeEnum.OK:
    print(
        "设置机器人当前的软状态为手动限速模式成功 / Set the robot's current soft state to manual limit mode successfully"
    )
else:
    print(
        f"设置机器人当前的软状态为手动限速模式失败，错误代码 / Set the robot's current soft state to manual limit mode failed, error code: {ret.errmsg}"
    )
    arm.disconnect()
    exit(1)

# [ZH] 获取机器人当前的软状态
# [EN] Get the robot's current soft state
state, ret = arm.get_soft_mode()
# [ZH] 检查是否成功
# [EN] Check if successful
if ret == StatusCodeEnum.OK:
    print("获取机器人当前的软状态成功 / Get the robot's current soft state successfully")
    print(f"机器人当前的软状态 / Robot current soft state: {state.name}")
else:
    print(f"获取机器人当前的软状态失败，错误代码 / Get the robot's current soft state failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 断开捷勃特机器人连接
# [EN] Disconnect from the Agilebot robot
arm.disconnect()
print("机器人断开连接成功 / Robot disconnected successfully")

4.1.10 Get Robot Operation Mode

Method Name	get_op_mode() -> tuple[SoftModeEnum, StatusCodeEnum]
Description	Get the current robot operation mode (such as manual, auto, etc. operation permission status for robot/virtual controller).
Request Parameters	No parameters
Return Value	SoftModeEnum: Operation mode StatusCodeEnum: Function execution result
Notes	If the controller returns an invalid mode, it will fall back to `SoftModeEnum.UNKNOWN` .
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.1.11 Set Robot Operation Mode

Method Name	set_op_mode( `soft_mode` : SoftModeEnum) -> StatusCodeEnum
Description	Set the robot operation mode. Only supported for virtual robots/simulators.
Request Parameters	`soft_mode` : Target SoftModeEnum (cannot be `UNKNOWN` ).
Return Value	StatusCodeEnum: Function execution result
Notes	Passing `SoftModeEnum.UNKNOWN` returns `UNSUPPORTED_PARAMETER` .
Compatible robot software version	Collaborative (Copper): Simulation only Industrial (Bronze): Simulation only

4.1.12 Upper Computer Acquires Control Authority

Method Name	acquire_access()
Description	The PC acquires control authority, putting the robot into PC mode. Internally starts a heartbeat thread to keep the mode alive.
Request Parameters	No parameters
Return Value	No return
Note	Only industrial robots require this call; collaborative robots and P7A do not.
Compatible robot software version	Collaborative (Copper): Not supported Industrial (Bronze): v7.5.0.0+

4.1.13 Upper Computer Releases Control Authority

Method Name	release_access()
Description	Release the PC control authority, stopping the PC mode heartbeat and handing control back to the teach pendant.
Request Parameters	No parameters
Return Value	No return
Note	Only industrial robots need this call.
Compatible robot software version	Collaborative (Copper): Not supported Industrial (Bronze): v7.5.0.0+

Example Code

arm/access_operate.py

#!python
"""
Copyright © 2016 Agilebot Robotics Ltd. All rights reserved.
Instruction: Arm类下的操作权限获取示例 / Example of obtaining operation permissions
"""

from Agilebot import Arm, StatusCodeEnum

# [ZH] 初始化捷勃特机器人
# [EN] Initialize the Agilebot robot
arm = Arm()
# [ZH] 连接捷勃特机器人
# [EN] Connect to the Agilebot robot
ret = arm.connect("10.27.1.254")

# [ZH] 检查是否连接成功
# [EN] Check if connection is successful
if ret == StatusCodeEnum.OK:
    print("机器人连接成功 / Robot connected successfully")
else:
    print(f"机器人连接失败，错误代码 / Robot connection failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 获取权限
# [EN] Acquire access
arm.acquire_access()

# [ZH] 返还权限
# [EN] Release access
arm.release_access()

# [ZH] 断开捷勃特机器人连接
# [EN] Disconnect from the Agilebot robot
arm.disconnect()
print("机器人断开连接成功 / Robot disconnected successfully")

4.1.14 Get the Robot Controller Version

Method Name	get_controller_version() -> tuple[str, StatusCodeEnum]
Description	Get the current controller version of the Agilebot robot.
Request Parameters	No parameters
Return Value	str: Controller version StatusCodeEnum: Function execution result
Notes	If the version is below the recommended level, the SDK prints an upgrade warning during connection.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

arm/get_version.py

#!python
"""
Copyright © 2016 Agilebot Robotics Ltd. All rights reserved.
Instruction: Arm类下的运动控制器版本获取示例 / Example of obtaining the controller version
"""

from Agilebot import Arm, StatusCodeEnum

# [ZH] 初始化捷勃特机器人
# [EN] Initialize the Agilebot robot
arm = Arm()
# [ZH] 连接捷勃特机器人
# [EN] Connect to the Agilebot robot
ret = arm.connect("10.27.1.254")
if ret == StatusCodeEnum.OK:
    print("机器人连接成功 / Robot connected successfully")
else:
    print(f"机器人连接失败，错误代码 / Robot connection failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 获取运动控制器版本
# [EN] Get the controller version
version_info, ret = arm.get_controller_version()
# [ZH] 检查是否成功
# [EN] Check if successful
if ret == StatusCodeEnum.OK:
    print("获取运动控制器版本成功 / Get controller version successful")
    print(f"运动控制器版本 / Controller version: {version_info}")
else:
    print(f"获取运动控制器版本失败，错误代码 / Get controller version failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 断开捷勃特机器人连接
# [EN] Disconnect from the Agilebot robot
arm.disconnect()
print("机器人断开连接成功 / Robot disconnected successfully")

4.1.15 Set the Robot LED Indicator Light

Method Name	switch_led_light( `mode` : bool) -> StatusCodeEnum
Description	Control the LED indicator light switch of the Agilebot robot
Request Parameters	`mode` : bool LED status (True on, False off)
Return Value	StatusCodeEnum: Function execution result
Compatible robot software version	Collaborative (Copper): v7.5.1.3+ Industrial (Bronze): Not supported

Example Code

arm/switch_led_light.py

#!python
"""
Copyright © 2016 Agilebot Robotics Ltd. All rights reserved.
Instruction: Arm类下的机器人灯环状态获取示例 / Example of obtaining the status of the LED
"""

import time

from Agilebot import Arm, StatusCodeEnum

# [ZH] 初始化捷勃特机器人
# [EN] Initialize the Agilebot robot
arm = Arm()
# [ZH] 连接捷勃特机器人
# [EN] Connect to the Agilebot robot
ret = arm.connect("10.27.1.254")
if ret == StatusCodeEnum.OK:
    print("机器人连接成功 / Robot connected successfully")
else:
    print(f"机器人连接失败，错误代码 / Robot connection failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 控制LED灯光关闭
# [EN] Control LED light off
ret = arm.switch_led_light(mode=False)
# [ZH] 检查是否成功
# [EN] Check if successful
if ret == StatusCodeEnum.OK:
    print("LED灯光关闭成功 / Control LED light off successfully")
else:
    print(f"LED灯光关闭失败，错误代码 / Control LED light off failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

time.sleep(5)

# [ZH] 控制LED灯光开启
# [EN] Control LED light on
ret = arm.switch_led_light(mode=True)
# [ZH] 检查是否成功
# [EN] Check if successful
if ret == StatusCodeEnum.OK:
    print("LED灯光开启成功 / Control LED light on successfully")
else:
    print(f"LED灯光开启失败，错误代码 / Control LED light on failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 断开捷勃特机器人连接
# [EN] Disconnect from the Agilebot robot
arm.disconnect()
print("机器人断开连接成功 / Robot disconnected successfully")

4.1.16 Power On the Robot Servo

Method Name	servo_on() -> StatusCodeEnum
Description	Power on the servo of the Agilebot robot
Request Parameters	No parameters
Return Value	StatusCodeEnum: Function execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.1.17 Power Off the Robot Servo

Method Name	servo_off() -> StatusCodeEnum
Description	Power off the servo of the Agilebot robot
Request Parameters	No parameters
Return Value	StatusCodeEnum: Function execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.1.18 Reset the Robot Servo

Method Name	servo_reset() -> StatusCodeEnum
Description	Reset the servo of the Agilebot robot
Request Parameters	No parameters
Return Value	StatusCodeEnum: Function execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

arm/servo_operate.py

#!python
"""
Copyright © 2016 Agilebot Robotics Ltd. All rights reserved.
Instruction: Arm类下的控制伺服操作示例 / Eexample of control servo operation example
"""

import time

from Agilebot import Arm, StatusCodeEnum

# [ZH] 初始化捷勃特机器人
# [EN] Initialize the Agilebot robot
arm = Arm()
# [ZH] 连接捷勃特机器人
# [EN] Connect to the Agilebot robot
ret = arm.connect("10.27.1.254")
if ret == StatusCodeEnum.OK:
    print("机器人连接成功 / Robot connected successfully")
else:
    print(f"机器人连接失败，错误代码 / Robot connection failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 机器人伺服重置
# [EN] Robot servo reset
ret = arm.servo_reset()
if ret == StatusCodeEnum.OK:
    print("伺服重置成功 / Servo reset successfully")
else:
    print(f"伺服重置失败，错误代码 / Servo reset failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)
time.sleep(5)

# [ZH] 机器人伺服下电
# [EN] Robot servo power off
ret = arm.servo_off()
if ret == StatusCodeEnum.OK:
    print("伺服下电成功 / Servo power off successfully")
else:
    print(f"伺服下电失败，错误代码 / Servo power off failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)
time.sleep(5)

# [ZH] 机器人伺服上电
# [EN] Robot servo power on
ret = arm.servo_on()
if ret == StatusCodeEnum.OK:
    print("伺服上电成功 / Servo power on successfully")
else:
    print(f"伺服上电失败，错误代码 / Servo power on failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 断开捷勃特机器人连接
# [EN] Disconnect from the Agilebot robot
arm.disconnect()
print("机器人断开连接成功 / Robot disconnected successfully")

4.1.19 Emergency Stop

Method Name	estop() -> StatusCodeEnum
Description	Make the Agilebot robot perform an emergency stop immediately.
Request Parameters	No parameters
Return Value	StatusCodeEnum: Function execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

arm/estop.py

#!python
"""
Copyright © 2016 Agilebot Robotics Ltd. All rights reserved.
Instruction: Arm类下的紧急停止示例 / Example of emergency stop
"""

from Agilebot import Arm, StatusCodeEnum

# [ZH] 初始化捷勃特机器人
# [EN] Initialize the Agilebot robot
arm = Arm()
# [ZH] 连接捷勃特机器人
# [EN] Connect to the Agilebot robot
ret = arm.connect("10.27.1.254")
if ret == StatusCodeEnum.OK:
    print("机器人连接成功 / Robot connected successfully")
else:
    print(f"机器人连接失败，错误代码 / Robot connection failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 机器人紧急停止
# [EN] Robot emergency stop
ret = arm.estop()
if ret == StatusCodeEnum.OK:
    print("机器人紧急停止成功 / Robot emergency stop successfully")
else:
    print(f"机器人紧急停止失败，错误代码 / Robot emergency stop failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 断开捷勃特机器人连接
# [EN] Disconnect from the Agilebot robot
arm.disconnect()
print("机器人断开连接成功 / Robot disconnected successfully")

4.1 Basic Robot Operations ​

Overview ​

Notes ​

Constructor ​

4.1.1 Connect to the Robot ​

4.1.2 Check Connection Status with the Robot ​

4.1.3 Disconnect from the Robot ​

4.1.4 Get the Current Robot Model ​

4.1.5 Get the Robot's Operating Status ​

4.1.6 Get the Current Controller Operating Status ​

4.1.7 Get the Current Servo Controller Status ​

4.1.8 Get the Current Soft Mode of the Robot ​

4.1.9 Set the Current Soft Mode of the Robot ​

4.1.10 Get Robot Operation Mode ​

4.1.11 Set Robot Operation Mode ​

4.1.12 Upper Computer Acquires Control Authority ​

4.1.13 Upper Computer Releases Control Authority ​

4.1.14 Get the Robot Controller Version ​

4.1.15 Set the Robot LED Indicator Light ​

4.1.16 Power On the Robot Servo ​

4.1.17 Power Off the Robot Servo ​

4.1.18 Reset the Robot Servo ​

4.1.19 Emergency Stop ​

4.1 Basic Robot Operations

Overview

Notes

Constructor

4.1.1 Connect to the Robot

4.1.2 Check Connection Status with the Robot

4.1.3 Disconnect from the Robot

4.1.4 Get the Current Robot Model

4.1.5 Get the Robot's Operating Status

4.1.6 Get the Current Controller Operating Status

4.1.7 Get the Current Servo Controller Status

4.1.8 Get the Current Soft Mode of the Robot

4.1.9 Set the Current Soft Mode of the Robot

4.1.10 Get Robot Operation Mode

4.1.11 Set Robot Operation Mode

4.1.12 Upper Computer Acquires Control Authority

4.1.13 Upper Computer Releases Control Authority

4.1.14 Get the Robot Controller Version

4.1.15 Set the Robot LED Indicator Light

4.1.16 Power On the Robot Servo

4.1.17 Power Off the Robot Servo

4.1.18 Reset the Robot Servo

4.1.19 Emergency Stop