Robot Status¶

Information related to the robot status managed by the WMX3 engine is copied to and managed by the RobotStatus object.

The parameters that make up RobotStatus are as follows.

stateCommand
stateFeedback
motionState
motionErrorInfo

Command Status Information
Variable	`stateCommand`
Type	`RobotState`

Saves the displacement and velocity of the axis, and based on this, the calculated position and velocity of the robot end effector, the position coordinate value of each axis, etc.

This data is the control command value transmitted to the motor driver based on the calculated motion value.

You can check more details in Command / Feedback Status .

Execution Status Information
Variable	`stateFeedback`
Type	`RobotState`

It has the same data format as the command status information.

However, this data is the actual displacement value of the axis reached after the motor driver executes the command. The difference is that these are data calculated based on the actual state.

You can check more details in Command / Feedback Status .

Motion Status Information
Variable	`motionState`
Type	`MotionState`
Default	`0`

This is a variable that indicates the motion status, such as whether the motion is running or stopped.

Robot Error Information
Variable	`motionErrorInfo`
Type	`MotionErrorInfo`

This is a variable that indicates the error status of the robot.