RAPID: cancel ongoing motion

jzoss

This is a fairly basic RAPID question (I think):

I have issued a motion command with the /Conc flag, so my program continues to execute.  I would like to cancel this motion if a specific condition is met.  Many robot languages have some sort of "CancelMotion" command that deletes all queued motions and brings the robot to a stop.

I see that there is a StopMove command, but it appears that this does not actually cancel the motion command.  In other words, the ongoing motion command will resume once StartMove is called.  So I don't think this is what I'm looking for.

Thanks for your help!
  Jeremy Zoss
  Southwest Research Institute


PS - Ideally, I would like to cancel the current motion, issue a new motion command, and have the robot smoothly transition between those motions.  But I can understand if this is impossible/difficult.  At this point I'm "starting small". 

Wolf Tech

Hi jzoss,

StopMove;

ClearPath;

 

Then execute the next position.

 

BR

 

Shane