SYSSTATE
(Statement)
[Version 1.98 or later]
Gets the system status of the robot controller.
SYSSTATE
This statement gets the system status of the robot controller. The status data differs depending upon the I/O line assignment. Listed below are data that can be obtained.
|
Bit
|
RC5 robot controller
|
RC7 robot controller
(Mini I/O line assignment)
|
|---|---|---|
|
0
|
Robot-in-operation
|
←
|
|
1
|
Robot failure
|
←
|
|
2
|
Servo ON
|
←
|
|
3
|
Robot initialization complete (in I/O standard mode)
Robot power on complete (in I/O compatible mode)
|
Robot initialization complete
|
|
4
|
Auto mode
|
←
|
|
5
|
External mode
|
←
|
|
6
|
Dead battery warning
|
←
|
|
7
|
Robot warning
|
Reserved.
|
|
8
|
Continue start permitted
|
←
|
|
9
|
SS mode
|
←
|
|
10
|
Robot stop
|
←
|
|
11
|
Enable Auto
|
←
|
|
12 to 15
|
Reserved.
|
←
|
|
16
|
Program start reset (in I/O compatible mode)
|
Reserved.
|
|
17
|
CAL complete (in I/O compatible mode)
|
Reserved.
|
|
18
|
In teaching (in I/O compatible mode)
|
Reserved.
|
|
19
|
Single-cycle end (in I/O compatible mode)
|
Reserved.
|
|
20 to 23
|
Reserved.
|
Reserved.
|
|
24
|
Command processing complete (in I/O standard mode)
|
Command processing complete
|
|
25 to 31
|
Reserved.
|
←
|
Note for RC7 robot controller (Mini I/O line assignment)
To get the "Operation preparation completed" status, AND Bit 2 "Servo ON" and Bit 5 "External mode" to use the result of the logical operation.
|
PROGRAM TSR1
|
|
|
------------
|
|
|
I1 = SYSSTATE
|
'Get the system status of robot controller.
|
|
IF (I1 AND &h0082) THEN
|
'If any failure or warning occurs,
|
|
CLRERR
|
'clear the error.
|
|
END IF
|
|
|
------------
|
|
|
END
|
|