Definition
stop(st_mode)
Features
This function stops the currently active motion. stop time is determined by the ‘st_mode’ and robot position does not deviate from the in-progress path.
-
This command is used to stop the operation of the robot and does not stop the execution of the program. Additional exit() commands must be executed to stop the program from running.
-
Values DR_QSTOP_STO and DR_QSTOP respond to Stop Category 1 (torque off after maximum deceleration) and 2 (maximum deceleration), but they are not linked with motions, such as torque off, after stopping. DR_SSTOP deceleration time is about 1.5 times longer that the maximum deceleration time. In the case of DR_HOLD, stop immediately with no deceleration time.
-
The argument DR_QSTOP corresponds to Stop Category 2 as defined by Functional Safety, but is not linked to actions such as Torque Off after stopping. DR_SSTOP stops for a deceleration time approximately 1.5 times longer than the maximum deceleration time.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
st_mode |
int |
- |
stop mode
|
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
#1. The motion is terminated with a soft stop 2 seconds after moving to x1
p0 = posj(-148,-33,-54,180,92,32)
movej(p0, v=30, a=30)
x1 = posx(784, 543, 570, 0, 180, 0)
amovel (x1, vel=100, acc=200) # Executes the next command immediately after the motion with x1.
wait(2) # Temporarily suspends the program for 2 seconds.
stop(DR_SSTOP) # Stops the motion with a soft stop.