For information on the latest version, please have a look at GL013301.
5.6 Robot state transition
The command standby state (STATE_STANDBY) is a basic robot control preparation state, and it carries out motions by automatically converting into STATE_HOMING, STATE_MOVING, or STATE_TEACHING when a control command is received from the user, and if the motion is done without error, it converts again into STATE_STANDBY and waits for user commands.
The EMERGENCY_STOP state is converted by the E/M button in whatever states excluding the initialization state (STATE_INITIALIZING) and robot stops. When an internal function or motion error of the robot controller occurs, it is converted into the SAFE_OFF state (motor and brake power cut-off) or SAFE_STOP state (control stop) and the robot stops.
Also, the functions for which state should be converted directly by the user for safety are as follows, and these functions can be executed by the set_robot_control function.