.. _enum_robot_state:

ROBOT_STATE
------------------------------------------

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

.. list-table::
   :header-rows: 1
   :widths: 5 20 85

   * - 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 |br|
       the robot moves after receiving a command. |br|
       When the motion finishes, the state automatically changes |br|
       to the command standby state.

   * - 3
     - STATE_SAFE_OFF
     - This is a robot pause mode caused by functional and operational |br|
       errors, and is a servo-off state (a state in which motor and brake |br|
       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 |br| 
       errors, and is a safety stop state (a state in which only control |br|
       pause was executed, and a temporary program pause state |br|
       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 |br| 
       when the robot has stopped due to errors such as leaving the |br|
       robot operation range.

   * - 9
     - STATE_SAFE_STOP2
     - The same as the STATE_SAFE_STOP state, except that the robot has |br| 
       left the robot operation range and must be switched to |br|
       recovery mode.

   * - 10
     - STATE_SAFE_OFF2
     - The same as the STATE_SAFE_OFF state, except that the robot has |br|
       left the robot operation range and must be switched to |br| 
       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. |br| 
       The T/P application changes it to the initialization state.

   * - 16
     - STATE_LAST
     - Indicates the **final enumerator marker** used internally by the API. |br| 
       It does not represent an operational state of the robot, but simply |br| 
       defines the **total number of valid states** in this enumeration. |br| 
       (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``  

  .. code-block:: cpp

      // 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;