How to get different status of robots by Karel Code

    I think most status are stored in some System Variables

    I guess there are several status as belowe:

    IsImergenceyStop?

    IsRobotInFault?(the Fault signal in TP)

    IsRobotEnabled?

    IsMoving?(the status of servo??)

    IsControllerReady?(the status of robot controller?)

    Instead of looking for variables, it is easier to link all UOP signals to Flags (if you don't use them for PLC communication) and read DO's in KAREL.

    - For E-Stop set DO in System > Config

    - For Fault read UO[6]

    - For enabled UO[1] and UO[2]

    - For robot motion you set DO in IO > Cell Outputs

    For reading DO use GET_PORT_VAL (2, port_nr, STATUS).

    Thank you for your reply, I also want to control the enable status of robot. But even if I set UO[2] as False, it will go back to True automatically.

    Is there any way I can change the status(enbaled/disabled) of robot?

    Quote from chibai

    Thank you for your reply, I also want to control the enable status of robot. But even if I set UO[2] as False, it will go back to True automatically.

    UOs are system status outputs -- they are controlled by the operating system, not by your or your program.

    Likewise, the UIs are system inputs, and cannot be simulated. They must be linked to actual I/O signals.

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