CDRFLEx.get_robot_state

Features

This is a function for checking information on the current operation mode of the robot controller along with the TOnMonitoringStateCB callback function, and the user should transfer the operation state depending on the state using the etRobotControl function for safety.

Parameter

None

Return

Value	Description
enum.ROBOT_STATE	Refer to the Definition of Constant and Enumeration Type

Example

CPP

if (drfl.get_robot_state() == eSTATE_STANDBY) {
    if (drfl.get_robot_mode() == ROBOT_MODE_MANUAL) {
       // Manual Mode
       drfl.jog(JOG_AXIS_JOINT_3, MOVE_REFERENCE_BASE, 60.f);
       sleep(2);
       drfl.jog(JOG_AXIS_JOINT_3, MOVE_REFERENCE_BASE, 0.f);
 }
}