Motor Off

SUMMARY

Motor Off removes commanded motor/servo power on the physical robot. It is not a substitute for a physical emergency stop.

The Skill

robot.motor_off()

The Code

Safety first!

A real robot will faithfully do whatever you ask of it - so please take a moment to clear the workspace, keep an E-Stop within reach, and be ready to disconnect.

Operating real hardware is at your own risk.

"""
Turns off the physical robot motors.

Supports Universal Robots (UR) and Epson.

Usage:
    python motor_off.py [--ip <ROBOT_IP>]
"""

import argparse

from loguru import logger

from telekinesis.synapse.robots.manipulators import universal_robots


def main(ip: str | None) -> None:
    """Turn off physical robot motors."""

    #===================== Create Robot ==========================================
    robot = universal_robots.UniversalRobotsUR10E(name='UR10e')

    try:
        #===================== Connect Robot ==========================================
        if ip:
            robot.connect(ip=ip)

        # ==================== Run Skill ============================================
        robot.motor_off()
        logger.success("Robot motors turned off.")
    except (ConnectionError, OSError) as e:
        logger.error(f"Error occurred: {e}")
    finally:
        robot.disconnect()
        robot.shutdown()


if __name__ == "__main__":
    parser = argparse.ArgumentParser(description="Turn off robot motors Synapse example")
    parser.add_argument("--ip", type=str, default=None,
                         help="UR robot IP address for real hardware, e.g. 192.168.1.100")
    args = parser.parse_args()

    main(ip=args.ip)

Running the Example

python motor_off.py --ip 192.168.1.100

For all options:

python motor_off.py --help

Parameter Configuration

This skill takes no input parameters.

Returns

Type	Description
None	The controller has accepted the motor-off command.

Raises

Exception	Condition
NotImplementedError	The active interface has no physical controller, or the brand has no motor-off implementation

How to Tune the Parameters

This skill takes no parameters. Make sure the arm is supported or parked first: removing power may let a vertical axis sag, depending on the brake behavior.

Where to Use the Skill

• End of a session - Power the arm down before leaving the cell.
• Maintenance - Remove servo power before working near the robot.

When Not to Use the Skill

• You need an emergency stop - use the physical E-stop.
• You only want to hold a move - use Pause and Continue Motion.