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ROBOT_STATE

This is an enumeration type constant that refers to the operation status of robot controller, and is defined as follows.

Rank	Constant Name	Description
0	STATE_INITIALIZING	This is a state of automatic entrance of T/P application, and is an initialization condition for the setting of various parameters.
1	STATE_STANDBY	This is an operable basis state, and is a command standby state.
2	STATE_MOVING	A command operation state that is automatically converted while the robot is moving after the receipt of commands. Once moving is done, the state is automatically converted into a command standby state.
3	STATE_SAFE_OFF	This is a robot pause mode caused by functional and operational error, and is a servo off state (a state in which motor and brake power is cut off after control pause).
4	STATE_TEACHING	Direct teaching state.
5	STATE_SAFE_STOP	This is a robot pause mode caused by functional and operational error, and is a safety stop state (a state in which only control pause was executed, and a temporary program pause state in the case of automatic mode).
6	STATE_EMERGENCY_STOP	Emergency stop state.
7	STATE_HOMMING	Homing Mode state (hardware-based array state of robot).
8	STATE_RECOVERY	Recovery mode state for moving robot into the operation range when that robot has stopped due to errors such as getting out of robot operation range.
9	STATE_SAFE_STOP2	A state in which conversion into recovery mode is needed due to getting out of robot operation range, although it is the same as the STATE_SAFE_STOP state.
10	STATE_SAFE_OFF2	A state in which conversion into recovery mode is needed due to getting out of robot operation range, although it is the same as the STATE_SAFE_OFF state.
11	STATE_RESERVED1	Reservation used.
12	STATE_RESERVED2	Reservation used.
13	STATE_RESERVED3	Reservation used.
14	STATE_RESERVED4	Reservation used.
15	STATE_NOT_READY	State for initialization after boot-up of robot controller. It is converted into the initialization state by the T/P application.
16	STATE_LAST	Indicates the final enumerator marker used internally by the API. It does not represent an operational state of the robot, but simply defines the total number of valid states in this enumeration. (Used for boundary checking and array size definitions.)

Defined in: DRFC.h

// robot state enumerated value
typedef enum {
    STATE_INITIALIZING,
    STATE_STANDBY,
    STATE_MOVING,
    STATE_SAFE_OFF,
    STATE_TEACHING,
    STATE_SAFE_STOP,
    STATE_EMERGENCY_STOP,
    STATE_HOMMING,
    STATE_RECOVERY,
    STATE_SAFE_STOP2,
    STATE_SAFE_OFF2,
    STATE_RESERVED1,
    STATE_RESERVED2,
    STATE_RESERVED3,
    STATE_RESERVED4,
    STATE_NOT_READY = 15,
    STATE_LAST,
} ROBOT_STATE;