Telekinesis Agentic Skill Library

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Get Safety Mode ​

SUMMARY

Get Safety Mode returns the current safety state of the robot as a brand-specific integer code.

On Universal Robots, this corresponds to the RTDE safety_mode field (e.g. 1 = normal, 3 = protective stop).

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
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
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)

safety_mode = robot.get_safety_mode()
logger.success(f"Safety mode: {safety_mode}")

# Disconnect
robot.disconnect()

The Explanation of the Code ​

get_safety_mode reads the safety_mode field from the RTDE 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. Consult the UR RTDE Interface documentation for the authoritative table.

How to Tune the Parameters ​

This skill takes no input parameters.

Return Value ​

TypeDescription
strCurrent 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: