Start Method

Description
Returns the Controller status.

Syntax
Function Stat (Address As Integer) As Integer

Parameters

Address
Specifies the address indicating the status of the Controller. (Integer from 0 to 2)

Return Value
Returns 4 byte value representing the status of the Controller. (See the table below.)

Address	Bit		The status of the Controller while the bit is on
0	0-15	&H1-&H8000	Task 1 to 16 are being executed (Xqt) or Halt state
	16	&H10000	The task is being executed
	17	&H20000	Pause state
	18	&H40000	Error state
	19	&H80000	TEACH mode
	20	&H100000	Emergency stop state
	21	&H200000	Power Low mode
	22	&H400000	The safeguard is open
	23	&H800000	Enable switch is open
	24	&H1000000	Undefined
	25	&H2000000	Undefined
	26	&H4000000	Test mode
	27	&H8000000	T2 mode state
	28-31		Undefined
1	0	&H1	Log of Stop above target position upon satisfaction of condition in Jump...Sense statement. (This log is erased when another Jump statement is executed).
	1	&H2	Log of stop at intermediate travel position upon satisfaction of condition in Go/Jump/Move...Till statement. (This log is erased when another Go/Jump/Move...Till statement is executed)
	2	&H4	Undefined
	3	&H8	The log of motion stop in progress if Trap statement is detected.
	4	&H10	Motor On state
	5	&H20	Home position
	6	&H40	Power Low mode
	7	&H80	Undefined
	8	&H100	Joint #4 is engaged.
	9	&H200	Joint #3 is engaged.
	10	&H400	Joint #2 is engaged.
	11	&H800	Joint #1 is engaged.
	12	&H1000	Joint #6 is engaged.
	13	&H2000	Joint #5 is engaged.
	14	&H4000	T axis is engaged.
	15	&H8000	S axis is engaged.
	16	&H10000	Joint #7 is engaged.
	17-31		Undefined
2	0-15	&H1-&H8000	Task 17 to 32 are being executed (Xqt) or in Halt state

Stat Example
VB Example:

Dim ctr_stat As Integer   
ctr_stat = m_spel.Stat(0)

C# Example:

int ctr_stat;  
ctr_stat = m_spel.Stat(0);