Features
This is a function for stopping the DRL program (task) currently executed in the robot controller. This function stops differently according to the eStopType received as an argument and stops the motion in the currently active section.
Parameter
|
Parameter Name |
Data Type |
Default Value |
Description |
|
eStopType |
Enum. STOP_TYPE |
STOP_TYPE_QUICK |
Refer to the Definition of Constant and Enumeration Type |
Return
|
Value |
Description |
|
0 |
Error |
|
1 |
Success |
Example
Python
DRL_PROGRAM_STATE eProgramState = drfl. get_program_state();
if ((eProgramState == DRL_PROGRAM_STATE_PLAY) ||
(eProgramState == DRL_PROGRAM_STATE_HOLD)) {
drfl.drl_stop(STOP_TYPE_QUICK);
//…
}
-
When the program is terminated either normally or by error, the program stop command must be executed.