Alarms¶

Read, check, and clear alarms reported by the arm.

Member	Description
`Magician.get_alarms`	Read the active alarms.
`Magician.clear_alarm`	Clear all active alarms and confirm that none comes back.
`Magician.ensure_no_alarms`	Raise if any alarm is active.
`AlarmSet`	Decoded alarm state.
`Alarm`	Alarm codes.
Alarm groups	Code ranges and their exceptions.

Recovery procedures are described in Alarms and recovery.

`Magician.get_alarms`¶

Magician.get_alarms() -> AlarmSet

Read the active alarms.

Returns AlarmSet.

Example

for line in bot.get_alarms().format():
    print(line)

`Magician.clear_alarm`¶

Magician.clear_alarm() -> bool

Clear all active alarms and confirm that none comes back.

After clearing, waits 0.2 seconds and reads the alarms again. An alarm whose cause is still present, for example a joint against its limit, becomes active again at once and stays active.

Returns bool: True.

Raises DobotAlarmError subclass: an alarm is active again after clearing.

`Magician.ensure_no_alarms`¶

Magician.ensure_no_alarms() -> None

Raise if any alarm is active.

Raises

DobotAlarmError subclass: at least one alarm is active. Its alarms attribute lists the alarm names.

`AlarmSet`¶

class pydobotlab.AlarmSet(raw, alarms)

Decoded alarm state returned by get_alarms. Immutable.

Attribute	Type	Description
`raw`	`bytes`	16-byte alarm bitmask.
`alarms`	`tuple` of `Alarm` or `int`	Active alarm codes. Codes without a name are `int`.

Method	Description
`names()`	Return the names of the active alarms as `list[str]`. Unnamed codes are labeled by group and code, for example `LIMIT_0x4A`.
`format()`	Return one `"NAME: remedy"` line per active alarm as `list[str]`.

bool(alarm_set) is True when any alarm is active. Iterating yields the codes in alarms. code in alarm_set tests whether an alarm is active.

Example

alarms = bot.get_alarms()
if Alarm.LIMIT_POS_J3 in alarms:
    print(alarms.names())

`Alarm`¶

class pydobotlab.Alarm(IntEnum)

Alarm codes, as defined in the Dobot Magician ALARM Description V1.0.1. Each value is the bit position in the 128-bit alarm bitmask.

Code	Member	Meaning	Ends when
`0x00`	`PUBLIC_RESET`	The arm was reset.	Cleared.
`0x01`	`PUBLIC_UNDEFINED_INSTRUCTION`	An unknown command was received.	Cleared.
`0x02`	`PUBLIC_FILE_SYSTEM`	File system error.	The arm is reset successfully.
`0x03`	`PUBLIC_MCU_COMM`	MCU-FPGA communication failed at start-up.	The arm is reset successfully.
`0x04`	`PUBLIC_ANGLE_SENSOR_READ`	An angle sensor gave a wrong value.	The arm is power-cycled.
`0x10`	`PLAN_INVERSE_SINGULARITY`	The target is in an abnormal position.	Cleared.
`0x11`	`PLAN_INVERSE_CALCULATION`	The target is out of the workspace.	Cleared.
`0x12`	`PLAN_INVERSE_LIMIT`	The target needs a joint beyond its limit: J1 -90° to 90°, J2 0° to 85°, J3 -10° to 90°, J4 -90° to 90°.	Cleared.
`0x13`	`PLAN_DATA_REPEAT`	Repeated points in an ARC or JUMP_MOVL move.	Cleared.
`0x14`	`PLAN_ARC_INPUT_PARAMETER`	Invalid ARC points.	Cleared.
`0x15`	`PLAN_JUMP_PARAMETER`	Invalid JUMP parameters, such as a negative height.	Cleared.
`0x20`	`MOVE_INVERSE_SINGULARITY`	The path passes a singular pose.	Cleared.
`0x21`	`MOVE_INVERSE_CALCULATION`	The path leaves the workspace.	Cleared.
`0x22`	`MOVE_INVERSE_LIMIT`	The path needs a joint beyond its limit.	Cleared.
`0x30` to `0x33`	`OVERSPEED_J1` to `OVERSPEED_J4`	A joint exceeded its maximum speed.	Cleared.
`0x40` to `0x47`	`LIMIT_POS_J1`, `LIMIT_NEG_J1`, ..., `LIMIT_POS_J4`, `LIMIT_NEG_J4`	A joint reached its positive or negative limit.	The joint is jogged back.
`0x48`, `0x49`	`LIMIT_POS_PARALLELOGRAM`, `LIMIT_NEG_PARALLELOGRAM`	The rear arm and forearm are stretched or folded to their limit.	The arm leaves the limit.
`0x50` to `0x53`	`LOST_STEP_J1` to `LOST_STEP_J4`	A joint lost steps.	The arm is homed.

"Cleared" means clear_alarm or the Clear Alarm button of the panel. The exception for each code is listed under Alarm groups. The bitmask layout is described in Alarm bitmask.

Alarm groups¶

Codes	Group	Exception
`0x00` to `0x0F`	System	`DobotSystemAlarmError`
`0x10` to `0x1F`	Planning	`DobotKinematicError`
`0x20` to `0x2F`	Motion	`DobotKinematicError`
`0x30` to `0x3F`	Overspeed	`DobotOverspeedError`
`0x40` to `0x4F`	Limit	`DobotKinematicError`
`0x50` to `0x5F`	Lost step	`DobotLostStepError`
`0x60` to `0x7F`	Not defined	`DobotAlarmError`

When several alarms are active, the exception follows the alarm with the lowest code.

Alarms¶

Magician.get_alarms¶

Magician.clear_alarm¶

Magician.ensure_no_alarms¶

AlarmSet¶

Alarm¶