problem entering recovery

[gabri202]

Hello ,
I write to you because we were trying to enter recoverymode from STATE_SAFE_OFF_2 with the following code:

cout << "**robotState = " << drfl.get_robot_state() << endl; drfl.set_robot_control(ROBOT_CONTROL::CONTROL_RECOVERY_SAFE_OFF);

int count = 0;
while(drfl.get_robot_state() == ROBOT_STATE::STATE_SAFE_OFF || drfl.get_robot_state() == ROBOT_STATE::STATE_SAFE_OFF2)
{
usleep(1000000);
cout << "robotState = " << drfl.get_robot_state() << ", " << count << endl;
if (count++ > 20)
{
count = 0;
drfl.set_robot_control(ROBOT_CONTROL::CONTROL_RECOVERY_SAFE_OFF);
}
}

bool recoveryServoOn = drfl.set_robot_control(ROBOT_CONTROL::CONTROL_RESET_SAFE_OFF);
while(robotState != 8) // finchè il robot non si è riacceso (nello stato di recovery) aspetta
{
usleep(500000);
}

But it seem not to enter recovery and change robotState.

[Vincent-Promation]

Hi,

I think we have the same problem (in V2.10.1). When our robot is in collision and then the protective stop signal gets active, we can't bring our cobot in recovery mode stop using the cockpit buttons or using the CONTROL_RECOVERY_SAFE_OFF function. However when the robot has a collision without the protective stop signal being active, it is possible to bring the robot into recovery mode. We only have this problem when using the API, not when using dart-platform/dart-studio