move_resume (Auto Mode)

This section explains how to use move_resume during Auto (Run) operations to resume a robot motion that was previously paused using move_pause.

This function continues the exact motion trajectory from the point where it was suspended, making it useful for conditional or sensor-driven workflows where motion may need to stop temporarily but not be canceled.

Typical usage

• Resume motion after a brief inspection or vision-based alignment.

• Continue movement once an external condition becomes valid again.

• Restore robot motion after an operator checks the workspace.

• Use in conjunction with asynchronous motion commands for event-driven automation.

Note

• Ignored if there is no currently paused motion.

• Only resumes motion; the overall DRL program continues running independently.

Example: Resuming Motion After a Conditional Pause

float target[6] = {0, 0, 90, 0, 90, 0};

// 1) Start asynchronous motion
drfl.amovej(target, 20, 40);

// 2) Pause when joint 3 reaches threshold
while (true) {
    LPPOSITION pos = drfl.get_current_pose(ROBOT_POSE_JOINT);
    if (!pos) continue;

    if (pos->_fTargetPos[2] >= 45) {
        drfl.move_pause();
        printf("Motion paused at J3 >= 45 degrees.\n");
        Sleep(3000);  // Wait three seconds
        break;
    }
}

// 3) Resume the paused motion
if (!drfl.move_resume()) {
    printf("Failed to resume motion.\n");
    return -1;
}

printf("Motion resumed.\n");

In this example, move_resume() is used to continue a suspended trajectory after the robot was paused mid-motion based on real-time joint position feedback.

Tips

• Always pair with move_pause for full stop/resume control.

• Effective with asynchronous moves (amovej, amovel) in event-based sequences.

• Ideal for workflows requiring motion interruption without canceling the path.

• Use for inspection steps, alignment waits, or safety-aware slowdowns.