CDRFLEx.drl_stop
Features
This is a function for stopping the DRL program (task) currently executed in the robot controller. This function stops differently according to the iStopType received as an argument and stops the motion in the currently active section.
Parameter
Parameter Name | Data Type | Default Value | Description |
iStopType | unsigned char | 1 | 0 : Slow Stop 1 : Quick Stop |
Return
Value | Description |
0 | Error |
1 | Success |
Example
CPP
DRL_PROGRAM_STATE eProgramState = drfl. get_program_state();
if ((eProgramState == DRL_PROGRAM_STATE_PLAY) ||
(eProgramState == DRL_PROGRAM_STATE_HOLD)) {
drfl.drl_stop(1);
//…
}