RobotStatus.msg

# The RobotStatus message contains low level status information 
# that is specific to an industrial robot controller

# The header frame ID is not used
std_msgs/Header header

# The robot mode captures the operating mode of the robot.  When in
# manual, remote motion is not possible.
industrial_msgs/RobotMode mode

# Estop status: True if robot is e-stopped.  The drives are disabled
# and motion is not possible.  The e-stop condition must be acknowledged
# and cleared before any motion can begin.
industrial_msgs/TriState e_stopped

# Drive power status: True if drives are powered.  Motion commands will 
# automatically enable the drives if required.  Drive power is not requred
# for possible motion
industrial_msgs/TriState drives_powered

# Motion enabled: True if robot motion is possible.
industrial_msgs/TriState motion_possible

# Motion status: True if robot is in motion, otherwise false
industrial_msgs/TriState in_motion

# Error status: True if there is an error condition on the robot. Motion may
# or may not be affected (see motion_possible)
industrial_msgs/TriState in_error

# Error code: Vendor specific error codes. If this list is empty, there are
# no active errors on the controller. Order of entries in this list does
# not necessarily encode for any specific severity or priority of active
# errors.
int32[] error_codes