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
C++
DRL_PROGRAM_STATE eProgramState = drfl. get_program_state();
if ((eProgramState == DRL_PROGRAM_STATE_PLAY) ||
(eProgramState == DRL_PROGRAM_STATE_HOLD)) {
drfl.drl_stop(1);
//…
}