It is an enumerated constant for setting the subsequent operation at the time of a protective stop, and is defined as follows.
|
Rank |
Constant Name |
Description |
|
0 |
SAFETY_STATE_BP_START |
boot-up start |
|
1 |
SAFETY_STATE_BP_INIT |
boot-up init(config) |
|
2 |
SAFETY_STATE_VD_STO |
mortor stop |
|
3 |
SAFETY_STATE_VD_SOS |
standby |
|
4 |
SAFETY_STATE_JH_SOS |
jog & homing stop |
|
5 |
SAFETY_STATE_JH_MOVE |
jog & homing move |
|
6 |
SAFETY_STATE_HG_MOVE |
hand guiding move |
|
7 |
SAFETY_STATE_RV_SOS |
recovery standby |
|
8 |
SAFETY_STATE_RV_MOVE |
recovery move |
|
9 |
SAFETY_STATE_RV_BACK |
backdrive mode |
|
10 |
SAFETY_STATE_RV_HG_MOVE |
recovery mode hand guiding |
|
11 |
SAFETY_STATE_SW_SOS |
standalone workspace standby |
|
12 |
SAFETY_STATE_SW_RUN |
standalone workspace move |
|
13 |
SAFETY_STATE_CW_SOS |
collaborative workspace standby |
|
14 |
SAFETY_STATE_CW_RUN |
collaborative workspace run |
|
15 |
SAFETY_STATE_CM_RUN |
collision mute run |
|
16 |
SAFETY_STATE_AM_RUN |
auto-measure run |
|
17 |
SAFETY_STATE_DRL_JH_SOS |
DRL jog & homing standby |
|
18 |
SAFETY_STATE_DRL_HG_MOVE |
handguiding move |