ROBOT_CONTROL

This enumeration specifies the commands that convert or change the operation state of the robot controller, and is defined as follows.

Value	Constant Name	Description
0	CONTROL_INIT_CONFIG	Switches the state from STATE_NOT_READY to STATE_INITIALIZING. Only the T/P application executes this function.
1	CONTROL_ENABLE_OPERATION	Switches the state from STATE_INITIALIZING to STATE_STANDBY. Only the T/P application executes this function.
2	CONTROL_RESET_SAFET_STOP	Switches the state from STATE_SAFE_STOP to STATE_STANDBY. In Auto mode, a program restart can be set.
2	CONTROL_RESET_SAFE_STOP	Switches the state from STATE_SAFE_STOP to STATE_STANDBY. In Auto mode, a program restart can be set. (Alias of CONTROL_RESET_SAFET_STOP)
3	CONTROL_RESET_SAFET_OFF	Switches the state from STATE_SAFE_OFF to STATE_STANDBY.
3	CONTROL_RESET_SAFE_OFF	Switches the state from STATE_SAFE_OFF to STATE_STANDBY. (Alias of CONTROL_RESET_SAFET_OFF)
3	CONTROL_SERVO_ON	Alias of CONTROL_RESET_SAFET_OFF. Used internally for backward compatibility with servo-on control in earlier firmware.
4	CONTROL_RECOVERY_SAFE_STOP	Switches the state by software from STATE_SAFE_STOP2 to STATE_RECOVERY.
5	CONTROL_RECOVERY_SAFE_OFF	Switches the state by software from STATE_SAFE_OFF2 to STATE_RECOVERY.
6	CONTROL_RECOVERY_BACKDRIVE	Switches the state by hardware from STATE_SAFE_OFF2 to STATE_RECOVERY. The state cannot then change to STATE_STANDBY; the robot controller must be power-cycled.
7	CONTROL_RESET_RECOVERY	Switches the state from STATE_RECOVERY to STATE_STANDBY.
8	CONTROL_LAST	Internal end marker of the ROBOT_CONTROL enumeration. It does not represent an actual control command, but defines the total number of valid constants within this enumeration. Used internally for array size definition and boundary checking.

Defined in: DRFC.h

// robot control enumerated value
typedef enum {
    CONTROL_INIT_CONFIG,
    CONTROL_ENABLE_OPERATION,
    CONTROL_RESET_SAFET_STOP,
    CONTROL_RESET_SAFE_STOP = CONTROL_RESET_SAFET_STOP,
    CONTROL_RESET_SAFET_OFF,
    CONTROL_RESET_SAFE_OFF = CONTROL_RESET_SAFET_OFF,
    CONTROL_SERVO_ON = CONTROL_RESET_SAFET_OFF,
    CONTROL_RECOVERY_SAFE_STOP,
    CONTROL_RECOVERY_SAFE_OFF,
    CONTROL_RECOVERY_BACKDRIVE,
    CONTROL_RESET_RECOVERY,
    CONTROL_LAST
} ROBOT_CONTROL;