States, Modes and Events

Introduction

A State is an abstraction of the system’s hardware state. For instance the system can be In OFF State, where power to the drives and motors is off, or ENGAGED State where the system is tracking external setpoints or executing a motion program.

A Mode is an abstraction of the way how signals are routed through the control system. The system can for instance be in Automatic Mode or Manual Mode.

There are also intermediate States/Modes between other State/Modes. These are be called Transitions or Transitional States/Modes. Transitions are protected by a Timeout if the system remains in the Transition for too long (for instance the system is commanded to go from OFF to IDLE State and because of some hardware failure it cannot switch on the drives, a timeout error will occur in the Transitional State OFF_TO_IDLE).

An Event is a trigger that initiates some change in the Control System, such as changing States or Modes. Events can be triggered by user interaction or programmatically.

States

ID State Name
0 Init
1 Off
2 Disengaged
3 Retract
4 Engaged
5 Referencing
6 Forced Disengaged
7 Emergency Stop
8 Shutdown
ID Transitional State Name
102 OFF_TO_DISENGAGED_T
105 OFF_TO_REFERENCING_T
201 DISENGAGED_TO_OFF_T
203 DISENGAGED_TO_RETRACT_T
204 DISENGAGED_TO_ENGAGED_T
302 RETRACT_TO_DISENGAGED_T
402 ENGAGED_TO_DISENGAGED_T
600 TO_FORCEDDISENGAGE_T
602 RESET_FORCEDDISENGAGE_T
700 TO_ESTOP_T
701 RESET_ESTOP_T

Modes

ID Mode Name
0 Init
1 Pause
2 Auto
3 Manual Joint
4 Manual Cart
5 Reset
6 Torque
7 Semi Auto
8 Running
ID Transitional Mode Name
102 PAUSE_TO_AUTO_RUN_T
103 PAUSE_TO_MANUAL_JOINT_T
104 PAUSE_TO_MANUAL_CART_T
105 PAUSE_TO_AUTO_RESET_T
106 PAUSE_TO_TORQUE_T
107 PAUSE_TO_SEMI_AUTO_T
201 AUTO_RUN_TO_PAUSE_T
208 AUTO_RUN_TO_RUNNING_T
301 MANUAL_JOINT_TO_PAUSE_T
304 MANUAL_JOINT_TO_MANUAL_CART_T
401 MANUAL_CART_TO_PAUSE_T
403 MANUAL_CART_TO_MANUAL_JOINT_T
501 AUTO_RESET_TO_PAUSE_T
601 TORQUE_TO_PAUSE_T
701 SEMI_AUTO_TO_PAUSE_T
802 RUNNING_T0_AUTO_RUN_T
Last modified June 9, 2022: Updated robot app (7d4ee2c9)