Deactivating ESM??

when using ESMs, there is always one active -the one you activated last... and it does not matter which program selected ESM. once you use ESM, you need to ensure to correct ESM is selected - in EVERY program... because one that selected ESM may have crashed before restoring another ESM selection and controller does not automatically switch back to previous ESM when program ends

Hello,

A simple way to make a function of "deactivating ESM" is making an ESM which has no extra effect of safety such as "Emergency stop Local".

It is already set on KUKA-PSM, and by changing the ESM state to this one, it will work like there's no additional AMF. -But you will see two errors when Local E-stop is pressed-.

Switch to KRF when ESM is violated. You will still be able to jog the robot and once the safety is insured, the mode will be automatically switched to T1.

Hello JM212,

I am currently experiencing the same problem as you but I am new to kuka iiwa. I don't know how to retrieve the information of whether a program is running or not to change EMS.

Can you share your background task code?

I will be very grateful.

Hello JM,

I think you can't do it with a one line code from a background task if you're not using Sunrise,StatusController option.

However you can still make use of other things.

You could get ITask instance of your Application class.

--Your backgroundTask

@Inject
private ITaskManager taskManager;

run() {
    ITask robotApp = taskManager.getTask(YourApplicationName.class);
    // use try-catch - You will get TaskNotAvailableException if your Application is not running.
}

You could also make use of ProccessData as a Flag to see if your Application is running.

--Your mainApplication

initialize() {
    getApplicationData().getProcessData( "AppRunningFlag" ).setValue( true );
}

--Your backgroundTask

run() {
    boolean appRunFlag = getApplicationData().getProcessData( "AppRunningFlag" ).getValue();
}

--Your RoboticsAPI.data.xml - You need to review related chapter on manual first.

  <processDataContainer>
    <processData dataType="java.lang.Boolean" defaultValue="false" displayName="AppRunningFlag" id="AppRunningFlag" value="False"/>
  </processDataContainer>