eStateMachine
TYPE eStateMachine :
Define steps of the robot's state machine
Syntax
Definition:
TYPE eStateMachine :
(
SM_POWEROFF := 0,
SM_STANDBY := 1,
SM_INTERRUPT := 2,
SM_HOLD := 6,
SM_MOVING := 3,
SM_CONNECT := 4,
SM_JOGGING := 5
);
END_TYPE
Parameters
|
Name |
Initial |
Description |
|---|---|---|
|
SM_POWEROFF |
0 |
Robot power is OFF |
|
SM_STANDBY |
1 |
Robot settled with no pending movement |
|
SM_INTERRUPT |
2 |
Robot settled with pending movement |
|
SM_HOLD |
6 |
Robot stopped because of Move/Hold key |
|
SM_MOVING |
3 |
Robot is moving |
|
SM_CONNECT |
4 |
Robot is moving along a connection move |
|
SM_JOGGING |
5 |
Robot is jogged from teach pendant |