Get Safety Mode
SUMMARY
Get Safety Mode returns the current safety state of the robot as a brand-specific integer code.
SUPPORTED ROBOTS
Currently supported only on Universal Robots.
UNITS
Returns a string code (no units), e.g. "NORMAL", "REDUCED", "PROTECTIVE_STOP".
The Skill
python
safety_mode = robot.get_safety_mode()The Code
Example: Read and Log Safety Mode
Connect to the robot and read its current safety mode.
python
"""
Read safety mode example for the Synapse SDK.
Returns the controller's safety mode (e.g. ``"NORMAL"``, ``"REDUCED"``,
``"PROTECTIVE_STOP"``, ``"SAFEGUARD_STOP"``).
Currently supported only for Universal Robots (UR10e).
Usage:
python get_safety_mode.py --ip <ROBOT_IP>
"""
import argparse
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots
def main(ip: str):
"""Log the current safety mode."""
# Create and connect to the robot
robot = universal_robots.UniversalRobotsUR10E()
robot.connect(ip=ip)
try:
logger.success(f"Safety mode: {robot.get_safety_mode()}")
finally:
robot.disconnect()
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Read safety mode Synapse example")
parser.add_argument("--ip", type=str, required=True, help="UR robot IP address")
args = parser.parse_args()
main(ip=args.ip)The Explanation of the Code
get_safety_mode reads the safety_mode field from the data stream. On Universal Robots the code maps to: 1 = NORMAL, 2 = REDUCED, 3 = PROTECTIVE_STOP, 4 = RECOVERY, 5 = SAFEGUARD_STOP, 6 = SYSTEM_EMERGENCY_STOP, 7 = ROBOT_EMERGENCY_STOP, 8 = VIOLATION, 9 = FAULT.
How to Tune the Parameters
This skill takes no input parameters.
Return Value
| Type | Description |
|---|---|
str | Current safety mode as a brand-specific integer code. |
Where to Use the Skill
- Pre-motion safety checks - Confirm the robot is in NORMAL mode before issuing motion commands
- Fault detection - Poll the safety mode to detect and react to protective stops
- Operator dashboards - Surface the safety state in monitoring UIs
When Not to Use the Skill
Do not use Get Safety Mode when:
- You need the operating mode - use Get Robot Mode instead
- You need a simple boolean - use Is Protective Stopped or Is Emergency Stopped for direct boolean checks