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For information on the latest version, please have a look at GL013301.

stop

This function stops the active motion in the robot controller. The stopping behavior depends on the eStopType parameter (e.g., quick, slow). All stop types except E-Stop are applied only to the currently active motion segment.

Definition
DRFLEx.h within class CDRFLEx, public section (line 762)

bool stop(STOP_TYPE eStopType = STOP_TYPE_QUICK) { return _stop(_rbtCtrl, eStopType); };

Parameter

Parameter Name	Data Type	Default Value	Description
eStopType	STOP_TYPE	STOP_TYPE_QUICK	Type of stop to perform. Options include quick, soft, or hold stop.

Return

Value	Description
0	Error occurred while attempting to stop motion.
1	Successfully stopped the current motion.

Example

#include "DRFLEx.h"
#include <thread>
#include <chrono>
using namespace DRAFramework;

int main() {
    CDRFLEx Drfl;

    // Define a Cartesian target position
    float x1[NUM_TASK] = {784, 543, 970, 0, 180, 0};

    // Move the robot to the target position
    Drfl.movej(x1, 200, 200);

    // Wait for 2 seconds while the robot is moving
    std::this_thread::sleep_for(std::chrono::seconds(2));

    // Perform a soft stop on the current motion
    Drfl.stop(STOP_TYPE_SLOW);

    return 0;
}

This example demonstrates how to stop an ongoing motion smoothly. The robot starts moving to a defined position and, after 2 seconds, the motion is halted using a soft stop (STOP_TYPE_SLOW) for gradual deceleration.