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Specialized Interfaces

Beyond the general robot interfaces, most robot drivers provide non-standardized interfaces for robot specific functionalities. A list of functions is shown below. For more information regarding the explicit interface structures consult the drag&bot support team.

  • Robot Simulator
    • Set Joints: Sets the current robot joints to a specific state.
    • Toggle Robot Mode: Toggles the simulated robot mode between automatic mode and teach mode.
    • Toggle E-Stop: Toggles the simulated robot emergency stop.
    • Set Error: Sets the controller to a specified error.
    • Notify Reset Simulation: When a message of this topic is received, a reset of the simulator is triggered.
  • Denso
    • Take Arm: Requests the arm semaphore in the robot controller.
    • Give Arm: Passes the arm semaphore back to the robot controller.
    • Open / Close: Opens or closes the built in gripper of the Cobotta robot.
    • Set Integer Variable: Sets an interger variable in the robot controller.
    • Get Integer Variable: Requests an interger variable from the robot controller.
  • KEBA KemroX
    • Power Robot: Activates the motor power of the robot.
    • Unpower Robot: Deactivates the motor power of the robot.
  • KUKA IIWA
    • Pause: Pauses the currently executed robot motion.
    • Resume: Resumes a currently paused robot motion.
    • Impedance: Activates the impedance mode of the robot.
    • Set Impedance Timeout: Configures the impedance timeout in the robot controller.
    • Change Workpiece Weight: Configures the worpiece weight in the robot controller.
    • Wrench: Provides the currently applied forces to the robot flange.
  • KUKA KRC4
    • Set Analog IO: Sets an analog io in the robot controller to a specified value.
    • Get Analog IO: Requests the value of an analog io in the robot controller.
  • Mecademic
    • Open / Close: Opens or closes the built in gripper of the Meca500 robot.
  • Nachi
    • Activate Impedance: Activates a configured impedance mode in the robot controller.
    • Deactivate Impedance: Deactivates an activated impedance mode in the robot controller.
    • Select Tool: Selects a configured tool in the robot controller.
  • Universal Robots
    • Controller Power Off: Powers the robot controller off.
    • Configure Payload Mass: Configures a payload mass in the robot controller.
    • Configure Payload Center of Gravity: Configures a payload center of gravity in the robot controller.
    • Request Payload Mass: Requests the configured payload mass from the robot controller.
    • Request Payload Center of Gravity: Requests the configured payload center of gravity from the robot controller.
    • Pause: Pauses the currently executed robot motion.
    • Resume: Resumes a currently paused robot motion.