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For information on the latest version, please have a look at 1.33.5.

move_resume

This function resumes the robot motion paused by the move_pause function. It is ignored if there is no active robot path motion.

Definition
DRFLEx.h within class CDRFLEx, public section

bool move_resume() { return _move_resume(_rbtCtrl); };

Parameter
None

Return

Value	Description
0	Error occurred while attempting to resume motion.
1	Successfully resumed the previously paused motion.

Note

Returns false without a message when the robot is in STATE_EMERGENCY_STOP, STATE_SAFE_OFF, STATE_SAFE_OFF2, STATE_SAFE_STOP or STATE_SAFE_STOP2.

Example

// Define target joint position
float j1[NUM_JOINT] = {0, 0, 90, 0, 0, 90};

// Start asynchronous joint motion
Drfl.amovej(j1, 20, 40);

while (true) {
    // Get current joint position
    LPROBOT_POSE pPose = Drfl.get_current_posj();

    // Pause motion if the 3rd joint exceeds 45 degrees
    if (pPose->_fPosition[2] >= 45) {
        Drfl.move_pause();  // Temporarily suspend motion
        std::this_thread::sleep_for(std::chrono::seconds(5)); // Wait for 5 seconds
        break;
    }
}

// Resume motion
Drfl.move_resume();

This example demonstrates how to resume a robot’s motion that was previously suspended using move_pause(). After pausing for 5 seconds, the robot continues its motion seamlessly using move_resume().