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ROBOT_STATE

This enumeration specifies the operation state of the robot controller, and is defined as follows.

Value	Constant Name	Description
0	STATE_INITIALIZING	Initialization state, in which the controller parameters are set.
1	STATE_STANDBY	This is the basic operable state and the command standby state.
2	STATE_MOVING	A command operation state that is entered automatically while the robot moves after receiving a command. When the motion finishes, the state automatically changes to the command standby state.
3	STATE_SAFE_OFF	This is a robot pause mode caused by functional and operational errors, 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 errors, and is a safety stop state (a state in which only control pause was executed, and a temporary program pause state in Auto mode).
6	STATE_EMERGENCY_STOP	Emergency stop state.
7	STATE_HOMMING	Homing mode state (hardware-based alignment of the robot).
8	STATE_RECOVERY	Recovery mode state for moving the robot into the operation range when the robot has stopped due to errors such as leaving the robot operation range.
9	STATE_SAFE_STOP2	The same as the STATE_SAFE_STOP state, except that the robot has left the robot operation range and must be switched to recovery mode.
10	STATE_SAFE_OFF2	The same as the STATE_SAFE_OFF state, except that the robot has left the robot operation range and must be switched to recovery mode.
11	STATE_RESERVED1	Reserved.
12	STATE_RESERVED2	Reserved.
13	STATE_RESERVED3	Reserved.
14	STATE_RESERVED4	Reserved.
15	STATE_NOT_READY	State for initialization after the robot controller boots up. The T/P application changes it to the initialization state.
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.)

Note

In Recovery mode, jog, multi_jog and the motion functions (movej, movel, movec, moveb, movejx, movesj, movesx, move_spiral, move_periodic, their amove variants, movesj_g and movesx_g) return false and print “this command cannot be used in recovery mode. please change to auto mode as robot mode”. To leave Recovery mode, call set_robot_control(CONTROL_RESET_RECOVERY), then set_robot_mode(ROBOT_MODE_MANUAL) or set_robot_mode(ROBOT_MODE_AUTONOMOUS). Until set_robot_mode is called, these functions keep returning false.

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;