Features
This function pauses the motion or force control being performed. Only the motion or force control currently being performed is paused, and other functions that operate asynchronously are not affected.
Parameter
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()