STATE real-valued function When select = 12, the function returns a flag that is set to nonzero when an ALTER program instruction is executed for the currently selected robot, and cleared after the trajectory generator processes the posted ALTER data. This flag can be used to coordinate the execution of ALTER instructions with the processing of the data by the trajectory generator. When select = 13, the function returns the trajectory generator execution rate in Hertz. That is, if the trajectory generator is executed every 16ms, this function returns the value 62.5. When select = 15, the function returns the number of the motion that is being executed by the selected robot.
This number is zeroed when a program that is attached to the robot first begins executing. The counter is reset to 1 at the start of each EXECUTE cycle. The value is incremented each time the trajectory generator begins evaluating a new motion (or transitions to a new continuous-path motion). The value of STATE(15) ranges from 0 to ^HFFFF. After reaching ^HFFFF, the value rolls back to 0. The following instructions affect the value of STATE(15):
ALIGN, APPRO, APPROS, DEPART, DEPARTS, DRIVE, JMOVE, MOVE, MOVES, MOVEF, MOVESF, MOVET, MOVEST, READY Instructions that affect one or more subsequent motions (e.g., ACCEL, AMOVE, ABOVE, BELOW, DURATION, FLIP, LEFTY, NOFLIP, MULTIPLE, RIGHTY, SINGLE, SPEED, SPIN, TOOL, UNIDIRECT, ...) do not affect the value of STATE(15), because those instructions do not actually initiate a motion. NOTE: Functions do not affect the value of STATE(15), because a function does not cause a motion. Location-valued functions (e.g., DEST, FRAME, INVERSE, SCALE, SHIFT, TRANS, etc.) simply compute location values.
When select = 19, the function returns a flag that indicates if the current motion (or the previously executed motion if the robot is stopped) is an optimized move (i.e., MOVEF or MOVESF). The possible values returned by this function are: eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 504 Value Interpretation (select = 11) motions 8 Ramping up deceleration 9 Constant deceleration 10 Ramping down deceleration 11 Nulling final errors