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SAFETY_STATE

It is an enumerated constant for setting the subsequent operation at the time of a protective stop, and is defined as follows.

Rank	Constant Name	Description
0	SAFETY_STATE_BP_START	boot-up start
1	SAFETY_STATE_BP_INIT	boot-up init(config)
2	SAFETY_STATE_VD_STO	motor stop
3	SAFETY_STATE_VD_SOS	standby
4	SAFETY_STATE_JH_SOS	jog & homing stop
5	SAFETY_STATE_JH_MOVE	jog & homing move
6	SAFETY_STATE_HG_MOVE	hand guiding move
7	SAFETY_STATE_RV_SOS	recovery standby
8	SAFETY_STATE_RV_MOVE	recovery move
9	SAFETY_STATE_RV_BACK	backdrive mode
10	SAFETY_STATE_RV_HG_MOVE	recovery mode hand guiding
11	SAFETY_STATE_SW_SOS	standalone workspace standby
12	SAFETY_STATE_SW_RUN	standalone workspace move
13	SAFETY_STATE_CW_SOS	collaborative workspace standby
14	SAFETY_STATE_CW_RUN	collaborative workspace run
15	SAFETY_STATE_CM_RUN	collision mute run
16	SAFETY_STATE_AM_RUN	auto-measure run
17	SAFETY_STATE_DRL_JH_SOS	DRL jog & homing standby
18	SAFETY_STATE_DRL_HG_MOVE	hand guiding move
19	SAFETY_STATE_LAST	Reserved for the last safety state index

Defined in: DRFC.h

typedef enum {
    SAFETY_STATE_BP_START,        /* boot-up start */
    SAFETY_STATE_BP_INIT,         /* boot-up init(config) */
    SAFETY_STATE_VD_STO,          /* violation detected STO */
    SAFETY_STATE_VD_SOS,          /* violation detected SOS */
    SAFETY_STATE_JH_SOS,          /* jog & homing SOS */
    SAFETY_STATE_JH_MOVE,         /* jog & homing MOVE */
    SAFETY_STATE_HG_MOVE,         /* hand guiding MOVE */
    SAFETY_STATE_RV_SOS,          /* recovery SOS */
    SAFETY_STATE_RV_MOVE,         /* recovery MOVE */
    SAFETY_STATE_RV_BACK,         /* recovery BackDrive */
    SAFETY_STATE_RV_HG_MOVE,      /* recovery hand guiding move */
    SAFETY_STATE_SW_SOS,          /* standalone workspace SOS */
    SAFETY_STATE_SW_RUN,          /* standalone workspace RUN */
    SAFETY_STATE_CW_SOS,          /* collaborative workspace SOS */
    SAFETY_STATE_CW_RUN,          /* collaborative workspace RUN */
    SAFETY_STATE_CM_RUN,          /* collision mute RUN */
    SAFETY_STATE_AM_RUN,          /* auto-measure RUN */
    SAFETY_STATE_DRL_JH_SOS,      /* DRL jog & homing SOS */
    SAFETY_STATE_DRL_HG_MOVE,     /* hand guiding MOVE */
    SAFETY_STATE_LAST
} SAFETY_STATE;