STATE real-valued function current motion. If a nonzero value is returned, alter is enabled, and the low byte of this value contains bits that correspond to the mode specified in the ALTON instruction that initiated the path modification. When select = 7, the function returns an indication of whether or not the real-time path- modification facility (alter mode) is enabled for the next planned motion. If zero is returned, alter mode is disabled for the next motion. If a nonzero value is returned, alter is enabled, and the low byte of this value contains bits that correspond to the mode specified in the ALTON instruction that initiated the path modification.
(This option is available only if your system is equipped with the eV+ Advanced Trajectory Control License.) When select = 8, the number of the robot selected by the manual control pendant is returned. When select = 9, the function returns the time (in seconds) left until completion of the current motion. Zero indicates that no motion is in progress. For continuous-path motions, the value of STATE(9) decreases during each motion until the transition to the next motion, and then the value suddenly changes to the time left in the next motion. That is, STATE(9) does not reach 0 before it is reset to reflect the next motion.
When select = 10, the function returns the percentage of the current motion that has completed. The value 100 indicates that no motion is in progress. For continuous-path motions, the value of STATE(10) increases during each motion until the transition to the next motion, and then the value suddenly changes to close to 0 to reflect the start of the next motion. That is, STATE(10) does not reach 100 before it is reset to reflect the next motion. When select = 11, the function returns detailed information on which portion of the acceleration profile is currently being generated for the selected robot.
eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 503 Value Interpretation (select = 11) 0 Idle, not evaluating trajectory 1 Ramping up acceleration for new segment 2 Constant acceleration section 3 Ramping down acceleration 4 Constant velocity section 5 Ramping up acceleration during the transition section between motions 6 Constant acceleration during the transition section between motions 7 Ramping down acceleration during the transition section between