How to control Active Drive trough TCP/IP communication ?

Context

If you have seen the message to Control some features of the Active Drive trough TCP/IP communication, this article will help you.

Knowledge

Overview of Commands to use ActiveDrive via the TCP/IP Socket

Here are the available commands to use the ActiveDrive mode via the TCP/IP socket.

Port 63355

ActiveDrive States

ActiveDrive has different states. To return the current ActiveDrive state, use the GET STATE command. Two states are considered active while the others are transient.

Here are the possible states:

Active:

READY → ActiveDrive is ready to run
ACTIVE → ActiveDrive is running

Transient:

ON_INI
ON_READY
ON_START_RTDE
WAITING_FOR_RTDE
WAITING_FOR_ACCEPTABLE_WRENCH
WAITING_FOR_ROBOT_PROGRAM

ActiveDrive Settings

Here are the commands to configure the ActiveDrive settings:

SET KINETIQ ON/OFF → Kinetiq ON allows the user to move the robot according to the selected options.
SET ZERO → Resets the force values applied on the sensor.
SET MODE TRANSLATION / FREE / PLANE / SCARA / DOMINANTAXIS
- TRANSLATION (X,Y,Z)
- FREE (X,Y,Z,RX,RY,RZ)
- PLANE (X,Y)
- SCARA (X,Y,Z,RZ)
- DOMINANTAXIS (X, Y, or Z, depending which force is greater)

SET REORIENTATION ON/OFF → Reorientation ON will snap TCP onto the closest orthogonal base frame.

SET CONTACT ON/OFF →
- Contact ON: For low speeds, when tool is in contact with a surface, for precise movement, for insertions
- Contact OFF: For high speeds, movement in space

Testing the Commands

Here are the responses you will receive for each command sent:

Command	Response
GET STATE	GATE STATE XXX
SET KINETIQ XXX	SET KINETIQ XXX DONE or ZERO ERROR KINETIQ START if too much force was applied on the sensor to start ActiveDrive
SET ZERO	SET ZERO DONE
SET MODE XXX	SET MODE XXX DONE
SET CONTACT XXX	SET CONTACT XXX DONE

PORT 63356

To display the state of ActiveDrive in real time, open port 63356. It will stream the state at a rate of 62.5Hz (16ms).

...

{"INIT_STAGE": X, "STATE": X, "CONTACT": X, "MODE": X, "REORIENTATION": X, "VISIBLE": X, "PROTECTED": X}

...

INIT_STAGE

0	primaryClientError
1	rtdeClientError
2	notLicensedError
3	sensorError
4	robotNotRunningError
5	programRunningError
6	targetSpeedFractionError
7	teachButtonPressedError
8	noError
9	finalErrorEnum

STATE

0	ON_INIT
1	ON_READY
2	READY
3	ON_START_RTDE
4	WAITING_FOR_RTDE
5	WAITING_FOR_ACCEPTABLE_WRENCH
6	WAITING_FOR_ROBOT_PROGRAM
7	ACTIVE

CONTACT

0	No contact / high speed
1	On contact / low speed

MODE

0	FREE (X,Y,Z,RX,RY,RZ)
1	TRANSLATION (X,Y,Z)
2	ROTATION (RX,RY,RZ)
3	SCARA (X,Y,Z,RZ)
4	PLAN (X,Y)
5	DOMINANTAXIS (X,Y,Z)

REORIENT

0	Re-orientation ON
1	Re-orientation Off

VISIBLE

0	Toolbar visible
1	Toolbar hiden

PROTECTED

Indicates if the ActiveDrive binary is encrypted. Default value is “Protected.” An FT 300-S Force Torque Sensor or a Copilot licence is therefore necessary to run ActiveDrive.

0	Unprotected
1	Protected

Here is the procedure in PDF to help you : Link