Can I stop the code midway?

xArm/850 Troubleshooting
1

I’m trying to get Lite 6 to work with Python.I want to stop this code mid-way and run some other code.

code = self._arm.set_position(*[-300, -300, 100, 180.0, 0.0, 0.0], speed=self._tcp_speed, mvacc=self._tcp_acc, radius=0.0, wait=False)

Is this kind of programming possible?

2

Hi Tomoya,

Please try set_state(4), it will stop the arm immediately and clear all caches.
You need to set state back to 0 before the next movement.
For your reference: Robot state and mode explanation | UFactory docs

Best regards,
Minna

3

To Minna

Thank you for your reply.
By adding set_state(4), I was able to do what I wanted.
Thank you for taking the time to reply despite your busy schedule.

Tomoya