Robot Operation State
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. |