genericroboticarm.sila_server.feature_implementations.robotcontroller_impl module

class genericroboticarm.sila_server.feature_implementations.robotcontroller_impl.RobotControllerImpl(parent_server: Server)

Bases: RobotControllerBase

EmergencyStop(*, metadata: MetadataDict) → EmergencyStop_Responses

Stops the robotic arm as quick as possible

Parameters:

metadata – The SiLA Client Metadata attached to the call

MovePlate(OriginSite: Any, DestinationSite: Any, *, metadata: MetadataDict, instance: ObservableCommandInstance) → MovePlate_Responses

Move a plate between two given sites

Parameters:

• OriginSite – Site to move the plate from

• DestinationSite – Site to move the plate to

• metadata – The SiLA Client Metadata attached to the call

• instance – The command instance, enabling sending status updates to subscribed clients

MoveToPosition(Position: str, *, metadata: MetadataDict, instance: ObservableCommandInstance) → MoveToPosition_Responses

Move to a given position.

Parameters:

• Position – Position to move to.

• metadata – The SiLA Client Metadata attached to the call

• instance – The command instance, enabling sending status updates to subscribed clients

PickPlate(Site: Any, *, metadata: MetadataDict) → PickPlate_Responses

Pick up a plate from a given site

Parameters:

• Site – Site to pick plate from

• metadata – The SiLA Client Metadata attached to the call

PlacePlate(Site: Any, *, metadata: MetadataDict) → PlacePlate_Responses

Place a plate on a given site

Parameters:

• Site – Site to place the plate on

• metadata – The SiLA Client Metadata attached to the call

Reinitialize(*, metadata: MetadataDict) → Reinitialize_Responses

Reinitialize the connection to to hardware and the state of the hardware.

Clears errors and enables moving. Does not Move the robot.

Parameters:

metadata – The SiLA Client Metadata attached to the call

SetAcceleration(Percentage: float, *, metadata: MetadataDict) → SetAcceleration_Responses

Sets the movement acceleration of the robots arm.

Parameters:

• Percentage – Percentage of maximum acceleration.

• metadata – The SiLA Client Metadata attached to the call

SetSpeed(Percentage: float, *, metadata: MetadataDict) → SetSpeed_Responses

Sets the movement speed of the robots arm.

Parameters:

• Percentage – Percentage of maximum speed.

• metadata – The SiLA Client Metadata attached to the call

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