.. _hold2run:

hold2run
------------------------------------------

hold2run is a heartbeat-based run-permission command that allows a previously initiated hold2run motion to continue only while the command is periodically received.
If no hold2run arrives for more than 500 ms, the controller quick-stops the motion (homing and user-home moves are stopped). Send hold2run well within 500 ms.

**Definition** |br|
``DRFLEx.h`` within class `CDRFLEx`, public section

.. code-block:: cpp

    bool hold2run() { return _hold2run(_rbtCtrl); };

**Parameter** |br|
None

**Return**

.. list-table::
   :widths: 10 20 70
   :header-rows: 1

   * - **Value**
     - **Type**
     - **Description**
   * - True
     - bool
     - Success — hold2run motion continued successfully.

**Example**

.. code-block:: cpp

   float target_pos[6] = {0, 0, 90, 0, 90, 0};
   float vel[6] = {30.0, 30.0, 30.0, 30.0, 30.0, 30.0};
   float acc[6] = {60.0, 60.0, 60.0, 60.0, 60.0, 60.0};
   drfl.movej_h2r(target_pos, vel, acc); // Initiate hold2run motion
   bool target_reached = false; // set by your own position check
   while (!target_reached) {
        drfl.hold2run();
        std::this_thread::sleep_for(std::chrono::milliseconds(100));
       // Additional processing can be done here
   }   

hold2run does not generate a new motion trajectory.
Instead, it acts as a heartbeat signal that grants run permission to the controller.
The controller continues executing the existing hold2run motion only while valid heartbeats are received within the configured timeout window.