Get Robot Mode
SUMMARY
Get Robot Mode returns the current operating mode of the robot as a brand-specific integer code.
On Universal Robots, this corresponds to the RTDE robot_mode field (e.g. 7 = running, 5 = idle).
SUPPORTED ROBOTS
This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.
The Skill
python
mode = robot.get_robot_mode()The Code
Example: Read and Log Robot Mode
Connect to the robot and read its current mode.
python
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots
robot_ip = "192.168.1.2" # replace with your robot's IP
robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)
mode = robot.get_robot_mode()
logger.success(f"Robot mode: {mode}")
# Disconnect
robot.disconnect()The Explanation of the Code
get_robot_mode reads the robot_mode field from the controller's RTDE data stream. On Universal Robots, the integer maps to a documented mode table (e.g., 7 = RUNNING, 5 = IDLE, 0 = DISCONNECTED). Consult the UR RTDE Interface documentation for the full table.
How to Tune the Parameters
This skill takes no input parameters.
Return Value
| Type | Description |
|---|---|
str | Current robot mode as a brand-specific integer code (returned as a string). |
Where to Use the Skill
- Pre-motion checks — Verify the robot is in RUNNING mode before commanding motion
- Diagnostics — Log the mode when diagnosing unexpected stops or state transitions
- Conditional logic — Branch program flow based on the current robot mode
When Not to Use the Skill
Do not use Get Robot Mode when:
- You need safety state — use Get Safety Mode for safety-specific status
- You need program execution state — use Get Runtime State for program-level status