move_pause (Manual Mode)

This section describes how to use move_pause during Manual (Teach) operations. Although defined in 3.1 Common, it is often used in teaching to temporarily pause robot motion for inspection, safety confirmation, or intermediate alignment.

Typical usage

  • Suspend an ongoing motion or teaching sequence without fully stopping the task.

  • Use together with move_resume to continue from the same position.

  • Recommended before manually adjusting a tool or checking workspace clearance.

Note

Unlike stop, this function does not cancel the motion; it simply freezes it. The motion can be resumed immediately once it is safe.

Example: Pause and Resume during Manual Teaching

// Assume connection, Manual mode, and servo ON are set.

// Start a slow linear motion toward a target
float target[6] = {600.0f, 100.0f, 450.0f, 180.0f, 0.0f, 90.0f};
drfl.movel(target, 50, 50);

// Pause midway for operator inspection
std::this_thread::sleep_for(std::chrono::milliseconds(800));
drfl.move_pause();
printf("Motion paused. Checking workspace...\n");

// After confirmation, resume the paused motion
std::this_thread::sleep_for(std::chrono::milliseconds(1500));
drfl.move_resume();
drfl.mwait();  // wait until completion

Tips

  • Use move_pause() when you need to inspect or adjust something mid-teaching without losing motion data.

  • Always ensure the robot is stationary before entering the workspace for safety.

  • If you need to abort the motion completely, use stop instead.