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 only used to stop the robot from operating and will not cause stop the program. To stop a program from running, use additionally exit() function. 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.

Parameter

Return

Exception

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.

Related commands

• movej()
• movel()
• movejx()
• movec()
• movesj()
• movesx()
• moveb()
• move_spiral()
• move_periodic()
• amovej()
• amovel()
• amovejx()
• amovec()
• amovesj()
• amovesx()
• amoveb()
• amove_spiral()
• amove_periodic()