STATE real-valued function When select = 2, the function value returns information about the current or previous robot motion as follows. These modes can change only when the robot is under program control-that is, when STATE(1) = 7. When select = 3, the function value returns information about the current manual control mode as follows (see JOG program instruction for more information): eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 500 Value Interpretation (when select = 2) 0 No motion instructions executed yet. 1 Normal trajectory evaluation is in progress (including normal acceleration, deceleration and segment transitions).
2 Motion stopped at a planned location.1 3 Position error is being nulled at unplanned final location. 4 Motion stopped at an unplanned location due to a belt window violation.2 5 Decelerating due to a triggered REACTI or BRAKE instruction. 6 Stopped due to a triggered REACTI or BRAKE instruction.2 7 Decelerating due to a hardware error, panic button, or ESTOP instruction. 8 Stopped due to a hardware error, panic button, or ESTOP instruction.2 9 Decelerating due to a stop-on-force condition. 10 Stopped due to a stop-on-force condition. 11 Nulling at completion of a SPIN motion. 12 Stopped after completion of a SPIN instruction. 1A RETRY command has no effect.
2A RETRY command completes the previous motion.