Stop Teach Mode
SUMMARY
Stop Teach Mode exits teach mode and restores the robot to normal active position control.
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
robot.stop_teach_mode()The Code
Example: Stop an Active Teach Mode Session
python
import time
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)
robot.start_teach_mode()
time.sleep(5)
robot.stop_teach_mode()
logger.success("Teach mode stopped.")
# Disconnect
robot.disconnect()The Explanation of the Code
stop_teach_mode sends the exit command to the controller, restoring stiff position control. Always call this before issuing programmed motion commands after a teach session.
How to Tune the Parameters
This skill takes no input parameters.
Return Value
| Return Type | Description |
|---|---|
None | Returns after teach mode is deactivated. |
Where to Use the Skill
- Always paired with Start Teach Mode at the end of a teach session.
When Not to Use the Skill
Use the matching stop for freedrive mode:
- Use Stop Freedrive Mode to exit freedrive mode (the two modes have separate start/stop pairs).