Stop Motion Command

Overview

The Stop Motion Command is used to stop the operation of the robot and does not perform the function of stopping the execution of the program. To stop the execution of the program, run the exit() command additionally.

Property

Annotation

You can insert text in the description, unique meaning, or nickname for each Parameter to differentiate with many DRL Components.

Parameters

In Parameter Panel, it will help you create or select your variable to define the parameter of the chosen command.

For detailed DRL description other than parameter, please refer to the following online manual link: https://manual.doosanrobotics.com/help/programming/2.9/publish/en_us/stop-st_mode-20284306.html.

Parameter Name

Data Type

Default Value

Description

st_mode

int

-

stop mode

DR_QSTOP_STO: Quick stop (Stop Category 1 without STO(Safe Torque Off)
DR_QSTOP: Quick stop (Stop Category 2)
DR_SSTOP: Soft Stop
DR_HOLD: HOLE stop

Example

DRL Code

PY

#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.