Basic Characteristics RAPID

StopMove Stops robot motion
Example
StopMove is used to stop robot and external axes movements temporarily. If the
instruction StartMove is given, movement resumes.
This instruction can, for example, be used in a trap routine to stop the robot temporarily
when an interrupt occurs.
StopMove;
WaitDI ready_input, 1;
StartMove;
Program execution
Examples
The robot movement is stopped until the input, ready_input, is set.
The robot and external axes movements stop without the brakes being engaged. Any
processes associated with the movement in progress are stopped at the same time as
the movement is stopped.
VAR intnum intno1;
...
CONNECT intno1 WITH go_to_home_pos;
ISignalDI di1,1,intno1;
TRAP go_to_home_pos
VAR robtarget p10;
StopMove;
StorePath;
p10:=CRobT();
MoveL home,v500,fine,tool1;
WaitDI di1,0;
Move L p10,v500,fine,tool1;
RestoPath;
StartMove;
ENDTRAP
When the input di1 is set to 1, an interrupt is activated which in turn activates the
interrupt routine go_to_home_pos. The current movement is stopped immediately
and the robot moves instead to the home position. When di1 is set to 0, the
robot returns to the position at which the interrupt occurred and continues to
RAPID Reference Manual 8-StopMove-1