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AIRBOT P7 7-Axis Robotic Arm AIRBOT P7 7-Axis Robotic Arm
⚙ Development Guide > SDK > Concept Guide

Control Modes#

The control mode determines how P7 handles subsequent motion commands. Switching modes requires an available service and control authority. After a successful switch, still read ServiceState.fsm_state to confirm the actual state.

Mode Selection#

SDK Mode Corresponding FSM State Applicable Task Main Limitation
Controller.idle IDLE Idle state before a task begins or after it ends Does not accept ordinary motion targets
Controller.planning_control PLANNING_CONTROL PTP, LIN, CIRCLE, OMPL, and waypoint planning Planning success and execution completion are different stages
Controller.servo_control SERVO_CONTROL Continuous joint or end-pose targets Maintain a stable sending cadence and prepare an active stop workflow
Controller.mit_control FORCE_CONTROL Specially validated low-level MIT joint control Requires parameters matched to the payload, installation, and complete-system version
enter_gravity_compensation_mode() GRAVITY_COMPENSATION Manual dragging and teaching Not part of the Controller enum; external force can move the robot arm

POSITION_CONTROL can still appear on the wire protocol, but the current Python SDK has no corresponding public Controller member. Do not construct an unpublished direct-position-control command from the state name.

Switch and Confirm#

from arm_p7_sdk import Controller

if not client.switch_controller(Controller.planning_control, timeout_ms=5000):
    raise RuntimeError("无法进入 planning_control")

state = client.get_service_state()
if state is None or state.fsm_state != "PLANNING_CONTROL":
    raise RuntimeError("尚未确认 PLANNING_CONTROL")

controller_state is the low-level controller name reported by the service and cannot replace fsm_state. The mode stored locally by the SDK can also differ from the actual FSM because of an external switch, gravity compensation, or state-cache latency.

MIT and gravity compensation require additional safety checks

MIT parameters enter low-level commands; gravity compensation lets external force move the robot arm. Do not enter MIT without parameters matched to the current payload and complete-system version. Before entering gravity compensation, clear the motion range, support the robot arm, and ensure that the physical emergency stop can be operated immediately.

See Controller for the mode enum and confirmation method, and API Reference for interface entry points.