CDRFLEx.move_resume

Features

This is a function for resuming the robot motion that was temporarily suspended by the move_pause function in the robot controller. It is ignored if there is no active robot path motion.

Parameter

None

Return

Value	Description
0	Error
1	Success

Example

CPP

float j00[NUM_JOINT] = {0, 0, 90, 0, 90,};   
drfl.amovej(j00, 20, 40);  // Starts asynchronous motion
while (1) {
// Checks the current joint angle
LPPOSITION pPose = drfl.get_current_pose(ROBOT_POSE_JOINT); 
    if (pPose->_fTargetPos[2] >= 45) { // If the 3-axis angle is 45 degree or more,
        drfl.move_pause();            // it temporarily stops the motion.
        Sleep(5000);                 // Waits for 5 seconds.
        break;                      // Terminates while statement.
    }
}                   
drfl.move_resume();           // Resumes the motion.