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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_EMERGENCY_STOP : Emergency stop engaged.

  • A motion held by move_pause is reported as STATE_STANDBY. To check for a paused DRL program, use get_program_state (DRL_PROGRAM_STATE_HOLD).

Example: Check Robot State before Next Command

// 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");

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.