get_robot_state (Manual Mode)

This section explains how to use get_robot_state during Manual (Teach) operations. While defined in 3.1 Common, this function is essential to monitor the real-time operational state of the robot before or during teaching.

Typical usage

• Confirm if the robot is currently moving, stopped, paused, or in error state.

• Used in conjunction with mwait to ensure safe sequencing.

• Display current robot status on pendant or GUI during manual operation.

Note

• Common states include:
  - STATE_STANDBY : Idle, ready to move.
  - STATE_MOVING : Motion active.
  - STATE_PAUSED : Motion paused by operator.
  - STATE_EMERGENCY_STOP : Emergency stop engaged.

Example: Check Robot State before Next Command

#include "DRFLEx.h"
#include <thread>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Start a short jog
    drfl.jog(JOG_AXIS_TASK_Z, MOVE_REFERENCE_BASE, -10.0f);
    std::this_thread::sleep_for(std::chrono::milliseconds(400));
    drfl.stop(STOP_TYPE_SLOW);

    // Poll robot state until stopped
    ROBOT_STATE state;
    do {
        state = drfl.get_robot_state();
        std::this_thread::sleep_for(std::chrono::milliseconds(100));
    } while (state == STATE_MOVING);

    printf("Robot motion stopped. Safe for next command.\n");

    return 0;
}

Tips

• Regularly query get_robot_state() during manual teaching to monitor motion progress.

• Use it to implement “wait until stop” logic or automatic UI updates.

• Combine with get_robot_mode to distinguish Manual vs. Auto operation.