Reads and returns an Integer value that indicates the current state of the amplifier high power sequencing.
... Controller.PowerState( mode )
Prerequisites
None
Parameters
mode
An optional numeric expression that is 0 if only the power sequencing state is to be returned or 1 if a combined power state, hard-stop indicator and Automatic Execution Mode indicator is to be returned. By default, this value is 0.
Remarks
In order to enable high power to the amplifiers, the system must transition in an orderly fashion through several states to ensure that safety and hardware requirements are satisfied. The PowerState property indicates the current state of the power sequencing.
If mode is 0, the possible values returned by this property and their interpretation are presented in the table below (this is equivalent to "Power state" DataID 230):
| PowerState | Description (mode = 0) |
|---|---|
|
0 |
System initially starting up |
|
1 |
Power off, fatal error has occurred |
|
2 |
Power off, power sequence restarting |
|
3 |
Power being turned off, no fault condition has occurred |
|
4 |
Power being turned off, a fault condition has occurred |
|
5 |
Power is off, a fault has occurred that must be cleared |
|
6 |
Power is off, waiting for hardware enable power switch to be turned off |
|
7 |
Power is off, waiting for enable power signal to be asserted |
|
8 |
Power is coming up, enabling amplifiers |
|
9 |
Power is on, performing motor commutation |
|
10 |
Power is coming up, enabling servos and releasing brakes |
|
11 |
Power is on, waiting to execute thread or Auto Execution task |
|
12 |
Power is on, executing Auto Execution task |
If mode is 1, the possible values returned by this property and their interpretation are presented in the table below (this is equivalent to "Power/Auto execute state" DataID 234):
| PowerState | Description (mode = 1) |
|---|---|
|
0 |
System initially starting up |
|
1 |
Power off, fatal error has occurred |
|
2 |
Power off, power sequence restarting |
|
3 |
Power being turned off, no fault condition has occurred |
|
4 |
Power being turned off, a fault condition has occurred |
|
5 |
Power is off, a fault has occurred that must be cleared |
|
6 |
Power is off, waiting for hardware enable power switch to be turned off |
|
7 |
Power is off, waiting for enable power signal to be asserted |
|
8 |
Power is coming up, enabling amplifiers |
|
9 |
Power is on, performing motor commutation |
|
10 |
Power is coming up, enabling servos and releasing brakes |
|
11 |
Power is on, waiting to execute thread or Auto Execution task |
|
12 |
Power is on, executing Auto Execution task |
|
15 |
Power is off, a Hard E-Stop is being asserted |
|
16 |
Power being turned on. Safety diagnostics are running |
|
20 |
Power is on, ready for a GPL project to execute and attach the robot |
|
21 |
Power is on, a GPL project is executing and has attached the robot |
|
22 |
Power is on, DIO MotionBlocks is executing |
|
23 |
Power is on, Automatic Analog Input Velocity mode is executing |
|
24 |
Power is on, Automatic Analog Input Torque mode is executing |
|
25 |
Power is on, Automatic Master/slave mode is executing (not implemented) |
|
26 |
Power is on, CANopen via CAN net is executing (not implemented) |
|
27 |
Power is on, CANopen via serial line is executing (not implemented) |
|
28 |
Power is on, robots are being homed |
|
29 |
Power is on, Virtual MCP Jog Mode has control of the robot |
|
30 |
Power is on, External Trajectory mode is executing |
|
31 |
Power is on, Hardware MCP Jog Mode has control of the robot |
Examples
Dim state As Integer
state = Controller.PowerState ' Sets state to one of the values listed above
See Also
Controller Class | Controller.PowerEnabled | Controller.SoftEstop | Robot.RapidDecel