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DISCONNECT

The DISCONNECT node disconnect the Mecademic robot arm via its API.Inputs ------ ip_address The IP address of the robot arm.Params:Returns:
Python Code
from flojoy import flojoy, TextBlob
from PYTHON.utils.mecademic_state.mecademic_state import query_for_handle


@flojoy(deps={"mecademicpy": "1.4.0"})
def DISCONNECT(ip_address: TextBlob) -> None:
    """
    The DISCONNECT node disconnect the Mecademic robot arm via its API.

    Inputs
    ------
    ip_address
        The IP address of the robot arm.

    """

    robot = query_for_handle(ip_address.text_blob)

    robot.WaitIdle()

    robot.DeactivateRobot()
    robot.WaitDeactivated()

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

    return None

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Example

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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.