martinleroux
commented
1 month ago Hi @TomSAVU ,
The faults and warning flags refer to the safeties of the robot, as seen in the Safeties page of the Web App. The robot not being able to reach a position does not put the robot in a fault state, hence why you don't see the flags changing.
The warnings are the same, but trigger for values slightly lower than faults (again, see the Safeties page).
Cheers
All below refers to Modbus operations with Gen3 Lite.
When reading the Fault Flag Discrete Inputs (address 32 to 62), I am expecting to see some flags changing. The "Emergency stop activated" flag is changing correctly, but I was expecting the "Unable to reach pose" flag to change if I am trying to send the arm in an impossible position. This is not happening. The same when reading the Fault Flag Registers, addresses 2 and 3.
When reading the warning flags, either discrete inputs (address 64 to 94) or registers (addresses 4 and 5), I am receiving no data, all the bits are False when I am stopping the arm with the emergency button. When are these warning flags activated?