Motor On

SUMMARY

Motor On requests motor/servo power on the physical robot. It never bypasses a safety circuit, fault or controller permission check.

The Skill

robot.motor_on()

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 on robot motors after the controller reports a permitted safety state.

Supports Universal Robots (UR) and Epson.

Usage:
    python motor_on.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 on physical robot motors."""

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

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

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


if __name__ == "__main__":
    parser = argparse.ArgumentParser(description="Turn on 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_on.py --ip 192.168.1.100

For all options:

python motor_on.py --help

Parameter Configuration

This skill takes no input parameters.

Returns

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

Raises

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

How to Tune the Parameters

This skill takes no parameters. Motor power may still be refused while an emergency stop, safeguard stop or fault is active; clear the cause first, then call it.

Where to Use the Skill

• Startup - Enable servo power after connecting and before commanding motion.
• Recovery - Re-enable motors after the approved fault-recovery procedure.

When Not to Use the Skill

• Running offline or in Isaac Sim - there are no physical motors.
• You expect it to clear faults - use Reset Controller first.