DISCONNECT

DISCONNECT disconnects the Mecademic robot arm via its API. This is required if the arm is to be used without rebooting. Params: ip_address : String The IP address of the robot arm. Returns: out : None

Python Code

from flojoy import flojoy, String
from PYTHON.utils.mecademic_state.mecademic_state import query_for_handle


@flojoy(deps={"mecademicpy": "1.4.0"})
def DISCONNECT(ip_address: String) -> None:
    """
    DISCONNECT disconnects the Mecademic robot arm via its API. This is required if the arm is to be used without rebooting.
    Parameters
    ----------
    Parameters
    ----------
    ip_address: String
        The IP address of the robot arm.

    Returns
    -------
    None
    """

    robot = query_for_handle(ip_address.s)

    robot.WaitIdle()

    robot.DeactivateRobot()
    robot.WaitDeactivated()

    robot.Disconnect()
    robot.WaitSimDeactivated()
    robot.WaitDisconnected()

    return None

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Example

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Press enter or space to select a node.You can then use the arrow keys to move the node around. Press delete to remove it and escape to cancel.

Press enter or space to select an edge. You can then press delete to remove it or escape to cancel.

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In this example, the DISCONNECT node terminates the connection with the MECADEMIC MECA500 robot arm.

After ensuring the robot arm is idle, the node deactivates the robot and waits for confirmation of deactivation. It then disconnects from the robot arm entirely.

The DISCONNECT node should always used at the end of a workflow to safely terminate the connection and ensure that the robot arm is in a deactivated state.