The operation state information of the robot has a total of 15 states as follows, and all states excluding reservation use (Nos. 11 ~ 14) can be checked through the OnMonitoringState callback function or get_robot_state, which is a user call function.
|
Rank |
Robot Operation State |
Description |
|---|---|---|
|
0 |
STATE_INITIALIZING |
This is a state of automatic entrance of T/P application, and is an initialization condition for the setting of various parameters. Once initialization is completed, the state is automatically converted into a command standby state. |
|
1 |
STATE_STANDBY |
This is an operable basis state, and is a command standby state. |
|
2 |
STATE_MOVING |
A command operation state that is automatically converted while the robot is moving after the receipt of commands. Once moving is done, the state is automatically converted into a command standby state. |
|
3 |
STATE_SAFE_OFF |
This is a robot stop mode due to a general Servo Off function and operation error, and is in the Servo Off state (the state where the motor and brake power are cut off after control stop). |
|
4 |
STATE_TEACHING |
Direct teaching state |
|
5 |
STATE_SAFE_STOP |
This is a robot pause mode caused by functional and operational error, and is a safety stop state (a state in which only control pause was executed, and a temporary program pause state in the case of automatic mode) - Displayed as STATE_STANBY or STATE_MOVING depending on the robot status |
|
6 |
STATE_EMERGENCY_STOP: |
Emergency stop state |
|
7 |
STATE_HOMMING |
Homing mode state (hardware-based array state of robot) |
|
8 |
STATE_RECOVERY |
Recovery mode state for moving robot into the operation range when that robot has stopped due to errors such as getting out of robot operation range |
|
9 |
eSTATE_SAFE_STOP2 |
A state in which conversion into recovery mode is needed due to getting out of robot operation range, although it is the same as the eSTATE_SAFE_STOP state |
|
10 |
STATE_SAFE_OFF2 |
A state in which conversion into recovery mode is needed due to getting out of robot operation range, although it is the same as the eSTATE_SAFE_OFF state |
|
11 |
STATE_RESERVED1 |
Reservation used |
|
12 |
STATE_RESERVED2 |
Reservation used |
|
13 |
STATE_RESERVED3 |
Reservation used |
|
14 |
STATE_RESERVED4 |
Reservation used |
|
15 |
STATE_NOT_READY |
State for initialization after boot-up of robot controller It is converted into the initialization state by the T/P application. |