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”. =)