rosservice¶

Motor¶

state:	Motor power is
true	ON
false	OFF

Get the motor power state

$ rosservice call /cobotta/get_motor_state "{}"

Turn ON/OFF the motor power

$ rosservice call /cobotta/set_motor_state "state: true"

Brake¶

state:	Brake is
true	Lock
false	Release

Get the brake state

$ rosservice call /cobotta/get_brake_state "{}"

Set the brake state

$ rosservice call /cobotta/set_brake_state "state: [false, false, false, false, false, false]"

LED¶

red:	green:	blue:	blink_rate:
0-255	0-255	0-255	0-255

blink_rate:	Description
0	LED is always ON
255	LED is slowly blinking

Attention

If you set the blink_rate small number, LED blinks quickly. Fast blinking will affect on your body.

$ rosservice call /cobotta/set_LED_state  "{red: 255, green: 255, blue: 255, blink_rate: 255}"

Error¶

Clear all errors

Clear errors except for FATAL error:
```
$ rosservice call /cobotta/clear_error
```
This command is the same as both /cobotta/clear_robot_error and /cobotta/clear_safe_state.

Note

When the motor power is ON, this command causes Bus voltage failure. So we recommend not to execute this command when the motor is ON. If Bus voltage failure occurs, you can clear it by executing rosservice call /clear_robot_error.

Clear robot errors

$ rosservice call /cobotta/clear_robot_error

Clear a safe state
```
$ rosservice call /cobotta/clear_safe_state
```
After executing this command and robot errors don’t occur, you are able to turn on the motor power.

Note

When the motor power is this command causes Bus voltage failure. Please refer to the note of /cobotta/clear_error.
FATAL error

If a FATAL error occurs, quit all applications and shutdown Ubuntu.

When the COBOTTA’s LED light has gone out,

turn off the COBOTTA’s power swtich.

So restart COBOTTA.

CALSET¶

Calibrating the relationship between position information recognized by the robot controller and the actual position of the robot arm is called CALSET.

Edit the RANG value

Look at the QR code side of COBOTTA:
```
CVR038A1-*****,J1:<a>,J2:<b>,J2:<b>,J3:<c>,J4:<d>,J5:<e>,J6:<f>
```
Edit <a>, <b>, <c>, <d>, <e>, <f> to denso_cobotta_ros/denso_cobotta_driver/config/parameters.yaml:
```
rang_value:
- <a>
- <b>
- <c>
- <d>
- <e>
- <f>
```

Run the denso_cobotta_driver node

Try:

$ roslaunch denso_cobotta_driver denso_cobotta_driver.launch

CALSET

Enter the CALSET command:
```
$ rosservice call /cobotta/exec_calset
```
Run MoveIt

Caution

To make sure that the emergency Stop button is NOT pressed because Motor does not become on.

Try:
```
$ roslaunch denso_cobotta_bringup denso_cobotta_bringup.launch [gripper_type:=parallel|vacuum]
```