Allow both RAPID running and undefined states #96
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gavanderhoorn
requested changes
May 26, 2020
gavanderhoorn
approved these changes
May 29, 2020
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I've posted in ros-industrial/industrial_ci#515 to figure out why CI is failing suddenly. |
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@gavanderhoorn: please rerun the job :) |
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Seems to have been fixed @ipa-mdl 👍 thanks for the fix. |
gavanderhoorn
approved these changes
May 31, 2020
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Thanks @jontje for the PR 👍 |
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EGM knows about these RAPID execution states:
UNDEFINEDSTOPPEDRUNNINGThere is a bug in EGM that after a restart of the robot controller, then RAPID is in the
UNDEFINEDstate even if it has clearly been started. This PR makes bothRUNNINGandUNDEFINEDstates acceptable when sending commands. The rationale is that the robot controller should internally ignore EGM commands if it's in a bad state.It's been like this for some years now, and I have reported it a few times but it has not been fixed so far.
Also, I have used this workaround for years without problems.