Enumerations
Additional notes
The input Flags Robot_in_home_position and Flow_ready_to_start
can only return values when a UUID is present in the PLC.
note
For the following enumerations, once the value is accepted by the backend it is
automatically reset to 0 (no action).
Flow Action
| Action | Value | Description |
|---|---|---|
NO_ACTION | 0 | |
START_FLOW | 1 | Start Flow, given in Flow UUID |
PAUSE_FLOW | 2 | Pause current Flow |
RESUME_FLOW | 3 | Resume current Flow |
STOP | 4 | Stops Flow or movement |
Movement Action
| Mode | Value | Description |
|---|---|---|
NO_ACTION | 0 | |
JOINT_PTP | 1 | Start point-to-point, target joint angle pose interpreted as absolute pose |
JOINT_LINEAR | 2 | Start linear motion, target joint angle pose interpreted as absolute pose |
CARTESIAN | 3 | Start motion with target Cartesian pose interpreted as absolute pose |
RELATIVE_CARTESIAN | 4 | Start motion with target Cartesian pose interpreted as relative pose |
Related
The operation mode, Robot state and safety state values a PLC reads back are documented separately in RobFlow System States.