xArm7 c++ SDK pause robot during set_position command

1

I can not find relevant information for c++ programing anywhere.

How to pause or stop the robot after issuing a set_positoin() command was issue without pressing emergency button? Say in case the robot is moving into an obstacle and we want to stop that from happening. After the set_command() the program sequence will wait until the robot finishes moving. It will NOT take any other commands.

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2

Hi friend

set_state(3) can pause the robot, set_state(4) can stop the robot and clean all the cache commands.and you can also use the SI of the control box to pause the robot, please refer to the user manual -2.5.2.5. Protective Stop with Reset Button"Page 56.

you can use the CI stop the robot and clean all the cache commands, please refer to the user manual -"1.4.4.1 Input"Page 97

https://www.ufactory.cc/_files/ugd/896670_41d4bcfd620f4e489e8a0a312c481f0e.pdf

3

@Mike. Thanks for your reply. But I don’t understand, Is there a detailed document? After issuing “set_position” it will not go to the next line of command. It will wait until the motion is finished. How do I then set the set_state(3) command to pause the robot? I would like to do it in the program not control box I/O.

I suppose you are working with UFactory. Can you please response more quickly? Thanks in advance.

4

Hi Wongrata,

Whether the command blocks depends on the wait parameter of set_position, attached is a simple demo, you can see it will go to next line even if the motion is not finished.

test.cc (907 Bytes)

Best regards,
Minna