Features
This function resumes paused motion.
Parameters
None
Return
|
Value |
Description |
|---|---|
|
0 |
Success |
|
Negative value |
Error |
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_TYPE) |
Parameter data type error occurred |
|
DR_Error (DR_ERROR_VALUE) |
Parameter value is invalid |
|
DR_Error (DR_ERROR_RUNTIME) |
C extension module error occurred |
|
DR_Error (DR_ERROR_STOP) |
Program terminated forcefully |
Example
Python
# pre-setting
set_velj(30)
set_accj(30)
set_velx(250)
set_accx(250)
# pause motion
movej([0, 0, 0, 0, 0, 0])
amovej([0, 0, 90, 0, 90, 0])
wait(1)
motion_pause()
wait(1)
motion_resume()
wait(5)
# pause motion in compliance control
movej(posj(0, 0, 90, 0, 90, 0))
task_compliance_ctrl()
amovel(posx(0, 0, -300, 0, 0, 0))
wait(1)
motion_pause()
wait(10)
motion_resume()
wait(5)
release_compliance_ctrl()
# pause force control
movej(posj(0, 0, 90, 0, 90, 0))
task_compliance_ctrl()
fd = [0, 0, -5, 0, 0, 0]
fctrl_dir= [0, 0, 1, 0, 0, 0]
set_desired_force(fd, dir=fctrl_dir)
wait(2)
motion_pause()
wait(2)
motion_resume()
wait(2)
release_force()
wait(0.5)
release_compliance_ctrl()