Best way to implement "controlled stop"

What would be the most appropriate way to implement a controlled stop or eased stop for cartesian or joint movements?

emergency_stop would instantly stop the movement. Instead, I am looking for stopping with a slowdown - I’d like the trajectory to continue for a specified amount of time or distance with speed gradually reducing to 0.

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Hi Arturs,

We use set_state(4) for emergency_stop, set_state(6) for eased stop, you can try both.
state4: robot is in STOP state, can not receive and execute command. Will automatically switch to this state when any error occurs.
state6: robot is performing decelerated stop, currently decelerating at maximum acceleration.

Best regards,

Great, I didn’t know state 6 existed - will try that out. Python SDK documentation only shows states 0,3 and 4