GetStatusRobot

This command returns the status of the robot.

Syntax

GetStatusRobot()

Responses

• [2007][as, hs, sm, es, pm, eob, eom]

  • as: activation state (1 if robot is activated, 0 otherwise);

  • hs: homing state (1 if homing already performed, 0 otherwise);

  • sm: simulation mode (0 if simulation is disabled, 1 if real-time simulation is enabled, 2 if fast simulation is enabled);

  • es: error status (1 for robot in error mode, 0 otherwise);

  • pm: pause motion status (1 if robot is in pause motion, 0 otherwise);

  • eob: end of block status (1 if robot is not moving and motion queue is empty, 0 otherwise);

  • eom: end of movement status (1 if robot is not moving, 0 if robot is moving).

Note that pm = 1 if a PauseMotion or a ClearMotion was sent, or if the robot is in error mode.

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

In cyclic protocols, the command GetStatusRobot is represented by the RobotStatus section (see Section 4.5.1).