CDRFLEx.stop
Features
This is a function for stopping the active motion in the robot controller. This function stops differently according to the eStopType received as an argument. All stop modes except Estop stop 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
CPP
# The motion is terminated with a soft stop 2 seconds after moving to x1
float x1[NUM_TASK] = {784, 543, 970, 0, 180, 0};
drfl.movel(x1, 100, 200) // Executes the next command immediately after the motion with x1.
Sleep(2000) // Temporarily suspends the program for 2 seconds.
drfl.stop(STOP_TYPE_SLOW) // Stops the motion with a soft Stop