stop (Manual Mode)

This section describes how to use stop during Manual (Teach) operation. Although defined in 3.1 Common, it is mainly used in Manual Jogging to:

  • Instantly halt a running jog / multi_jog

  • Apply a soft stop for smooth deceleration

  • Recover from unexpected contact or operator intervention

Typical usage

  • Use `STOP_TYPE_QUICK` for instant halt (e.g., fixture proximity).

  • Use `STOP_TYPE_SLOW` to reduce vibration after fine positioning.

  • After stopping, confirm completion with mwait or get_robot_state.

Note

stop() only halts motion. It does not reset safety faults or clear protective stops.

Example: Jog → Stop → Verify

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

int main() {
    CDRFLEx drfl;
    // Assume connection, Manual mode, and servo ON are set.

    // Jog along +X for 0.7s, then quick stop
    drfl.jog(JOG_AXIS_TASK_X, MOVE_REFERENCE_BASE, 15.0f);
    std::this_thread::sleep_for(std::chrono::milliseconds(700));
    drfl.stop(STOP_TYPE_QUICK);
    drfl.mwait();

    // Fine adjustment using TOOL frame, then soft stop
    float v_touch[6] = {3.0f, 0, 0, 0, 0, 0};
    drfl.multi_jog(v_touch, MOVE_REFERENCE_TOOL, 1.0f);
    std::this_thread::sleep_for(std::chrono::milliseconds(400));
    drfl.stop(STOP_TYPE_SLOW);
    drfl.mwait();

    return 0;
}

Tips

  • Map a pendant key to stop(STOP_TYPE_QUICK) for instant reaction.

  • Use STOP_TYPE_SLOW for stable final positioning after jogging.