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drl_stop

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.

Definition
DRFLEx.h within class CDRFLEx, public section (line 936)

bool drl_stop(unsigned char eStopType = 0) {
    return _drl_stop(_rbtCtrl, eStopType);
};

Parameter

Parameter Name	Data Type	Default Value	Description
iStopType	unsigned char	1	Stop type selection (0: Slow Stop, 1: Quick Stop)

Return

Value	Type	Description
0	int	Error
1	int	Success

Example

DRL_PROGRAM_STATE eProgramState = drfl.get_program_state();
if ((eProgramState == DRL_PROGRAM_STATE_PLAY) ||
    (eProgramState == DRL_PROGRAM_STATE_HOLD)) {
    // Stop DRL program
    drfl.drl_stop(1);
}

This example checks the current DRL program execution state using get_program_state(). If the state is either PLAY or HOLD, the program is stopped using drl_stop(1), which performs a Quick Stop operation. This function ensures safe and immediate program termination according to the stop type.