Stat Function

Returns the execution status information of the controller.

Syntax
Stat(address)

Parameters

address

Specifies an address (integer between 0 and 2) indicating the controller status.

Return Values
Returns a 4 byte value that presents the status of the controller. Refer to table below.

Description
The Stat instruction returns information as shown in the table below:

Address	Bit		Controller Status Indicated When Bit is On
0	0-15	&H1 to &H8000	Task (1~16) is being executed (Xqt) or in Halt State
	16	&H10000	Task(s) is being executed
	17	&H20000	Pause condition
	18	&H40000	Error Condition
	19	&H80000	Teach mode
	20	&H100000	Emergency Stop Condition
	21	&H200000	Low Power Mode (Power Low)
	22	&H400000	Safeguard Input is Closed
	23	&H800000	Enable Switch is Open
	24	&H1000000	Undefined
	25	&H2000000	Undefined
	26	&H4000000	Test mode
	27	&H8000000	T2 mode
	28-31		Undefined
1	0	&H1	Jump ... History of stopping above target coordinates with the Sense statement condition satisfied. (This log is erased when another Jump statement is executed).
	1	&H2	Go/Jump/Move.... History of stopping during motion with the Till statement condition satisfied. (This log is erased when another Go/Jump/Move...Till statement is executed
	2	&H4	Undefined
	3	&H8	Log of stop at intermediate travel position upon satisfaction of condition in Trap statement
	4	&H10	Motor On mode
	5	&H20	Current position is home position
	6	&H40	Low power state
	7	&H80	Undefined
	8	&H100	4th Joint motor is on
	9	&H200	3rd Joint motor is on
	10	&H400	2nd Joint motor is on
	11	&H800	1st Joint motor is on
	12	&H1000	6th Joint motor is on
	13	&H2000	5th Joint motor is on
	14	&H4000	Axis T motor is on
	15	&H8000	Axis S motor is on
	16	&H10000	7th Joint motor is on
	17-31		Undefined
2	0-15	&H1 to &H8000	Task (17~32) is being executed (Xqt) or in Halt State

See Also
EStopOn Function, TillOn Function, PauseOn Function, SafetyOn Function

Stat Function Example

Function StatDemo

    Integer rbt1_sts
    rbt1_sts = RShift((Stat(0) And &H070000), 16)
    Select TRUE
        Case (rbt1_sts And &H01) = 1
            Print "Tasks are running"
        Case (rbt1_sts And &H02) = 2
            Print "Pause Output is ON"
        Case (rbt1_sts And &H04) = 4
            Print "Error Output is ON"
    Send
Fend