States of AIRBOT Play
1. States of AIRBOT Play
After AIRBOT Play is powered on and controlled, it will enter different states according to the operation. The states are indicated by the color of the LED light on the base control board.
The following table lists the states and their corresponding LED light colors.
| State | Color | Description |
|---|---|---|
| Self-check | Breathing Yellow |
The robot is powered on and self-checking. |
| Power On | Constant White | The robot is powered on and prepared to be controlled |
| Online (Idle) |
Constant Green |
The robot is in online mode and can be controlled by external commands (e.g., keyboard, API calling) |
| Online (Idle) |
Flashing Green |
The robot is in online mode and is moving right now |
| Manual | Constant Cyan |
The robot is in manual mode and can be dragged freely with gravity compensation. |
| Manual (Recording) |
Constant Blue |
The robot is in manual mode and can be dragged freely with gravity compensation. The trajectory is being recorded. |
| Offline (Idle) |
Constant Purple |
The robot is in offline mode prepared to replay recorded trajectory. External commands (e.g., keyboard, API calling) will be ignored. |
| Offline (Moving to starting point) |
Flowing Purple |
The robot is in offline mode, moving to the starting point of the recorded trajectory. External commands (e.g., keyboard, API calling) will be ignored. |
| Offline (Replaying) |
Breathing Purple |
The robot is in offline mode replaying the recorded trajectory. |
| Error | Constant Red |
The robot is in error state. |
2. Switching between States
The states of AIRBOT Play can be switched by pressing buttons on the base panels and on the end:
| Current State | Action | Next State | Side Effect | Description |
|---|---|---|---|---|
| Online (Idle) |
LONG PRESS on the END BUTTON | Manual | Start gravity compensation and free drive the arm | |
| Offline (Idle) |
LONG PRESS on the END BUTTON | Manual | Start gravity compensation and free drive the arm | |
| Manual | LONG PRESS on the END BUTTON | Online (Idle) |
Stop gravity compensation and ready for external control | |
| Online (Idle) |
DOUBLE CLICK on the END BUTTON | Offline (Idle) |
Stop responding to external control and prepare for trajectory replay | |
| Offline (Idle) |
DOUBLE CLICK on the END BUTTON | Online (Idle) |
Return to online mode accepting external control | |
| Manual | DOUBLE CLICK on the END BUTTON | Offline (Idle) |
Stop gravity compensation and prepare for trajectory replay | |
| Offline (Idle) |
SINGLE CLICK on the BASE BUTTON | Offline (Moving to starting point) |
Prepare to replay recorded trajectory by moving to the starting point | |
| Manual | SINGLE CLICK on the BASE BUTTON | Manual (Recording) |
Start recording trajectory | |
| Manual (Recording) |
SINGLE CLICK on the BASE BUTTON | Manual | Stop recording trajectory | |
| Manual or Manual (Recording) |
SINGLE CLICK on the END BUTTON | UNCHANGED | Gripper opened / closed | Open / close the gripper while dragging the end effector |
The states can also be switched by external commands:
manual_mode(): Switch to manual modeonline_mode(): Switch to online modeoffline_mode(): Switch to offline moderecord_start(): Start recording trajectoryrecord_stop(): Stop recording trajectoryreplay_start(): Start replaying recorded trajectory